version: 66.13
glider: 401
mission: 22
dive: 2245
start: 9 4 117 6 57 18
data:
$ID,401
$MISSION,22
$DIVE,2245
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,17
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,040917,063606,6005.1987,-17242.9297,4,0.8,22,7.5,0.0,197.3,10,5.0
$_CALLS,6
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-42.3
$GPS2,040917,065640,6005.0742,-17242.7754,4,0.9,32,7.5,0.4,217.9,9,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,116.8,36817,-11.8,-10.784,-15.15,6791
$D_GRID,55
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,231,1951,1859,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.093,0.000,705,1952,1859,1859,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.32,50.39
$GC,25,-1.80,-487.5,705,1951,1858,4094,0.7,0.0,1,56,11.27,1.17,-10.90,0.000,18948,0.045,1.236,1754,1529,3057,3057,4095,0,0,0,0,0,0,25.96,24.00,26.03,10.32,50.90
$GC,244,-1.80,-487.5,1754,1529,3062,4095,27.5,-17.3,36,251,0.00,1.00,0.00,0.000,1030,0.000,0.026,1754,1954,3062,3062,4095,0,0,0,0,0,0,26.17,26.15,26.19,10.55,49.96
$GC,286,-1.80,-487.5,1754,1954,3063,4095,34.8,-17.4,42,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1954,3063,3063,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.54,50.35
$GC,327,-1.80,-487.5,1754,1954,3064,4094,42.0,-18.0,48,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1954,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.54,49.80
$GC,368,-1.80,-487.5,1754,1954,3066,4095,48.6,-16.2,54,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1954,3066,3066,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.52,49.56
$STATE,404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,404,begin apogee
$GC,417,-0.45,0.0,1754,2145,3068,4095,55.3,-17.5,60,452,4.68,0.00,28.17,1.238,10244,0.056,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.07,25.30,24.20,10.51,49.48
$STATE,453,end apogee,CONTROL_FINISHED_OK
$STATE,454,begin climb
$GC,459,1.80,487.5,2185,2145,2484,4094,59.7,0.0,66,502,7.50,1.12,27.85,1.220,10756,0.030,0.039,2900,1711,1915,1915,4095,0,0,0,0,0,0,25.57,25.52,23.85,10.38,48.22
$GC,612,1.80,487.5,2900,1710,1913,4095,46.6,11.5,90,618,0.00,1.05,0.00,0.000,1030,0.000,0.028,2901,2135,1913,1913,4094,0,0,0,0,0,0,25.70,25.68,25.74,10.25,46.92
$GC,654,1.80,487.5,2900,2135,1912,4094,41.7,11.2,96,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1911,1911,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.25,47.28
$GC,695,1.84,510.2,2901,2135,1911,4094,37.3,10.4,102,702,0.00,0.00,2.95,0.366,8198,0.000,0.000,2901,2136,1888,1888,4094,0,0,0,0,0,0,26.18,25.30,24.16,10.26,47.71
$GC,737,1.85,518.2,2900,2135,1887,4094,32.7,10.7,108,744,0.00,0.00,2.30,0.154,8198,0.000,0.000,2901,2136,1879,1879,4094,0,0,0,0,0,0,26.23,25.30,24.18,10.25,48.14
$GC,779,1.85,518.2,2900,2135,1878,4094,28.0,11.6,114,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1878,1878,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.25,48.97
$GC,820,1.85,518.2,2900,2135,1877,4094,23.1,12.2,120,827,0.00,1.10,0.00,0.000,516,0.000,0.043,2901,1715,1877,1877,4094,0,0,0,0,0,0,26.34,25.90,26.34,10.25,49.40
$GC,928,1.85,518.2,2900,1715,1874,4094,10.6,11.4,137,934,0.00,1.05,0.00,0.000,1030,0.000,0.026,2901,2152,1874,1874,4094,0,0,0,0,0,0,26.15,26.11,26.17,10.28,50.31
$GC,969,1.85,518.2,2900,2152,1872,4094,5.8,12.0,143,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2152,1872,1872,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.28,50.66
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.6,1.024120,103
$GC,1013,0.15,103.1,2901,2155,1871,4094,1.6,12.3,148,1026,5.20,0.00,-4.38,0.000,20486,0.022,0.000,2387,2154,2370,2370,4095,0,0,0,0,0,0,26.21,24.48,26.26,10.29,51.26
$FINISH2,0.0
$STATE,1027,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1027,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,064958
$TT8_MAMPS,0.024717,0.159537
$HUMID,51.22
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,23.85,65.808
$10V_AH,10.22,60.235
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,34.250,6.950,61.275,0.000,0.000,144.121,138.622,382.964,0.000,0.000,33.643,395.654,462.901,134.190,859.776,411.843,0.000,300.007,0.000,228.800,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1236.240,1237.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,10869,150
$CAP_FILE_SIZE,32780,0
$CFSIZE,1024409600,909148160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,065640,6005.074,-17242.775,4,0.9,32,7.5,0.4,217.9,9,4.9