version: 66.13
glider: 401
mission: 22
dive: 2251
start: 9 4 117 9 15 17
data:
$ID,401
$MISSION,22
$DIVE,2251
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,040917,090317,6004.0737,-17241.2598,4,1.2,49,7.5,0.3,211.7,6,3.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-39.5
$GPS2,040917,091439,6004.0210,-17241.3730,8,1.1,53,7.5,0.2,232.4,7,3.2
$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,115.3,34653,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,240,1959,1783,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.095,0.000,714,1952,1783,1783,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.30,51.18
$GC,25,-1.80,-487.5,714,1956,1783,4094,0.7,0.0,1,56,11.07,1.20,-11.52,0.000,18948,0.041,1.227,1755,1525,3058,3058,4095,0,0,0,0,0,0,26.02,24.09,26.09,10.30,50.63
$GC,292,-1.80,-487.5,1755,1524,3065,4095,34.9,-16.8,44,299,0.00,1.02,0.00,0.000,1030,0.000,0.025,1755,1960,3065,3065,4094,0,0,0,0,0,0,26.22,26.21,26.25,10.54,50.51
$GC,334,-1.80,-487.5,1755,1959,3066,4094,41.9,-16.2,50,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1960,3066,3066,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.53,49.84
$GC,375,-1.80,-487.5,1755,1959,3068,4094,48.7,-16.7,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1959,3068,3068,4094,0,0,0,0,0,0,26.55,26.58,26.57,10.52,49.48
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,424,-0.45,0.0,1755,2143,3069,4095,55.2,-16.0,62,460,4.65,0.00,28.27,1.232,10244,0.055,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.10,25.32,24.21,10.52,49.05
$STATE,461,end apogee,CONTROL_FINISHED_OK
$STATE,461,begin climb
$GC,466,1.80,487.5,2185,2143,2484,4094,59.3,0.0,68,508,7.57,0.00,27.85,1.215,11270,0.030,0.000,2900,2143,1916,1916,4094,0,0,0,0,0,0,25.68,25.85,23.88,10.38,48.38
$GC,543,1.80,487.5,2900,2143,1915,4094,53.5,12.1,80,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2144,1914,1914,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.26,47.08
$GC,584,1.80,487.5,2900,2143,1914,4094,48.4,12.9,86,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1914,1914,4094,0,0,0,0,0,0,25.89,25.89,25.89,10.25,47.08
$GC,625,1.80,487.5,2900,2143,1912,4094,43.5,12.0,92,632,0.00,1.12,0.00,0.000,516,0.000,0.043,2901,1714,1912,1912,4095,0,0,0,0,0,0,26.02,25.62,26.03,10.25,47.36
$GC,804,1.80,487.5,2900,1713,1908,4095,22.8,12.6,120,810,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2128,1907,1907,4094,0,0,0,0,0,0,26.06,26.01,26.08,10.26,49.48
$GC,845,1.80,487.5,2900,2127,1906,4094,17.6,11.2,126,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1906,1906,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.28,49.76
$GC,887,1.81,491.0,2900,2127,1905,4094,13.3,10.7,132,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1904,1904,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.28,50.59
$GC,928,1.84,509.2,2900,2128,1904,4094,8.9,10.5,138,935,0.00,0.00,2.58,0.189,8198,0.000,0.000,2900,2128,1889,1889,4094,0,0,0,0,0,0,26.46,25.40,24.42,10.30,50.90
$GC,970,1.88,536.9,2900,2127,1888,4094,4.4,10.4,144,978,0.17,0.00,3.28,0.290,10246,0.050,0.000,2930,2128,1856,1856,4094,0,0,0,0,0,0,26.25,25.54,24.65,10.29,51.02
$STATE,989,end climb,FINISH_DEPTH_REACHED
$STATE,989,begin subsurface finish
$FINISH1,1.6,1.024110,104
$GC,1003,0.16,103.9,2930,2128,1855,4094,1.6,11.1,147,1016,5.50,0.00,-4.53,0.000,20486,0.021,0.000,2391,2129,2369,2369,4095,0,0,0,0,0,0,26.17,24.49,26.23,10.29,51.02
$FINISH2,-0.0
$STATE,1017,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1017,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,040917,075923
$TT8_MAMPS,0.025466,0.134071
$HUMID,51.33
$INTERNAL_PRESSURE,10.336
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,23.88,65.970
$10V_AH,10.30,60.368
$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,34.600,4.775,61.975,0.000,0.000,25.966,22.949,306.899,0.000,0.000,54.793,392.514,242.359,130.656,558.321,378.539,0.000,293.448,0.000,227.415,0.000,0.544,0.000
$DEVICE_MAMPS,94.860,1227.060,1232.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,10876,149
$CAP_FILE_SIZE,27703,0
$CFSIZE,1024409600,908869632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,091439,6004.021,-17241.373,8,1.1,53,7.5,0.2,232.4,7,3.2