version: 66.13
glider: 401
mission: 22
dive: 2250
start: 9 4 117 8 43 17
data:
$ID,401
$MISSION,22
$DIVE,2250
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,040917,080455,6004.5273,-17241.8887,8,0.9,36,7.5,0.2,208.6,9,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.8
$GPS2,040917,080455,6004.5273,-17241.8887,8,0.9,36,7.5,0.2,208.6,9,4.3
$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,116.2,35568,-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,-487.5,2388,1942,2370,4092,0.0,0.0,0,30,6.40,0.00,-6.30,0.000,20486,0.024,0.000,1763,1943,3054,3054,4094,0,0,0,0,0,0,26.23,23.94,26.29,10.39,51.92
$GC,36,-1.80,-487.5,1763,1943,3054,4094,0.0,-0.3,2,46,0.00,1.05,0.00,0.000,516,0.000,0.057,1763,1530,3054,3054,4095,0,0,0,0,0,0,26.44,25.99,26.45,10.54,52.48
$GC,240,-1.80,-487.5,1762,1530,3060,4095,29.5,-15.7,31,249,0.00,0.98,0.00,0.000,1030,0.000,0.028,1763,1952,3060,3060,4095,0,0,0,0,0,0,26.32,26.29,26.33,10.53,52.12
$GC,289,-1.80,-487.5,1763,1951,3062,4095,38.3,-16.9,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3062,3062,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.52,51.57
$GC,337,-1.80,-487.5,1763,1951,3064,4094,46.0,-16.1,43,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3063,3063,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.51,51.02
$GC,385,-1.80,-487.5,1762,1951,3064,4094,53.9,-15.7,49,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3063,3063,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.50,50.63
$STATE,402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,402,begin apogee
$GC,415,-0.45,0.0,1763,2144,3065,4094,57.3,-15.6,51,451,4.55,0.00,28.12,1.250,10244,0.056,0.000,2185,2144,2483,2483,4094,0,0,0,0,0,0,26.18,25.39,24.26,10.50,50.43
$STATE,452,end apogee,CONTROL_FINISHED_OK
$STATE,452,begin climb
$GC,457,1.80,487.5,2184,2144,2484,4094,61.4,0.0,55,502,7.50,1.10,27.85,1.232,10500,0.024,0.049,2906,2559,1915,1915,4094,0,0,0,0,0,0,25.63,25.58,23.89,10.36,49.48
$GC,523,1.94,576.3,2905,2558,1916,4094,57.6,9.4,62,534,0.30,1.05,6.70,0.902,11270,0.026,0.024,2944,2134,1811,1811,4094,0,0,0,0,0,0,25.41,25.40,23.92,10.23,47.36
$GC,575,1.94,576.3,2943,2134,1810,4094,51.4,12.3,68,585,0.00,1.08,0.00,0.000,516,0.000,0.044,2944,1724,1810,1810,4094,0,0,0,0,0,0,25.81,25.43,25.82,10.21,47.36
$GC,741,1.94,576.3,2943,1723,1806,4094,30.8,12.2,92,751,0.00,0.95,0.00,0.000,1030,0.000,0.029,2944,2116,1806,1806,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.22,48.97
$GC,791,1.94,576.3,2943,2115,1803,4094,24.7,12.4,98,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2116,1803,1803,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.23,49.56
$GC,839,1.97,595.7,2944,2115,1803,4094,19.4,10.5,104,849,0.00,0.00,2.53,0.203,8198,0.000,0.000,2944,2116,1788,1788,4094,0,0,0,0,0,0,26.36,24.94,24.30,10.24,50.00
$GC,890,1.97,595.7,2943,2115,1787,4094,14.0,11.1,110,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2116,1788,1788,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.26,50.63
$GC,939,1.97,595.7,2943,2115,1786,4094,8.1,12.0,116,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2116,1785,1785,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.26,50.94
$STATE,983,end climb,SURFACE_DEPTH_REACHED
$STATE,983,begin surface coast
$FINISH,0.1,1.024108
$STATE,998,end surface coast,CONTROL_FINISHED_OK
$STATE,998,begin surface
$SM_CCo,1106,0.00,0.000,0,0,1783,602.74
$SM_GC,0.90,28.00,0.40,0.00,0.018,0.047,0.000,241,1959,1783,-6.55,1.78,602.74,0,0,0,0,0,0,26.22,26.17,26.26
$IRIDIUM_FIX,5955.74,-17228.01,040917,075745
$TT8_MAMPS,0.025466,0.253162
$HUMID,51.61
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.89,65.929
$10V_AH,10.13,60.349
$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,46.750,7.475,65.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,356.367,59.740,122.278,520.436,117.213,0.000,319.522,0.000,305.528,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,56.610,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.382,336.919,266.563,395.320,518.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,10860,124
$CAP_FILE_SIZE,23180,0
$CFSIZE,1024409600,908918784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,090317,6004.074,-17241.260,4,1.2,49,7.5,0.3,211.7,6,3.1