version: 66.13
glider: 401
mission: 22
dive: 2254
start: 9 4 117 10 22 30
data:
$ID,401
$MISSION,22
$DIVE,2254
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,040917,101152,6003.6460,-17240.9668,4,0.9,17,7.5,0.0,264.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-40.7
$GPS2,040917,102152,6003.5947,-17241.1211,8,1.0,29,7.5,0.6,239.2,9,4.9
$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,114.4,34033,-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,-487.5,230,1956,1889,4092,0.0,0.0,0,21,7.55,0.00,0.00,0.000,2049,0.099,0.000,859,1953,1889,1889,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.31,51.29
$GC,27,-1.80,-487.5,858,1952,1889,4094,0.8,0.0,1,55,9.50,1.20,-10.62,0.000,18948,0.040,1.229,1752,1513,3055,3055,4094,0,0,0,0,0,0,25.98,24.10,26.01,10.32,51.22
$GC,264,-1.80,-487.5,1752,1513,3061,4094,33.0,-16.8,34,273,0.00,1.02,0.00,0.000,1030,0.000,0.024,1753,1952,3061,3061,4095,0,0,0,0,0,0,26.22,26.18,26.23,10.54,50.19
$GC,314,-1.80,-487.5,1752,1952,3062,4095,41.6,-17.5,40,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3062,3062,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.52,49.84
$GC,364,-1.80,-487.5,1752,1951,3064,4095,49.8,-15.9,46,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3064,3064,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.52,49.64
$STATE,393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,394,begin apogee
$GC,406,-0.45,0.0,1752,2145,3065,4095,55.7,-16.3,50,442,4.68,0.00,28.23,1.239,10244,0.055,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.10,25.32,24.22,10.51,48.89
$STATE,443,end apogee,CONTROL_FINISHED_OK
$STATE,444,begin climb
$GC,449,1.80,487.5,2185,2145,2483,4094,59.7,0.0,54,494,7.57,0.00,27.98,1.217,11270,0.030,0.000,2901,2145,1915,1915,4094,0,0,0,0,0,0,25.68,25.85,23.87,10.37,48.26
$GC,535,1.80,487.5,2900,2145,1914,4094,53.6,12.4,64,544,0.00,1.17,0.00,0.000,516,0.000,0.042,2901,1706,1913,1913,4094,0,0,0,0,0,0,25.74,25.37,25.75,10.25,46.25
$GC,740,1.80,487.5,2900,1705,1908,4094,28.4,12.2,93,749,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2119,1907,1907,4094,0,0,0,0,0,0,25.99,25.96,26.03,10.26,48.26
$GC,790,1.80,487.5,2900,2118,1906,4094,21.6,12.3,99,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2119,1906,1906,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.26,48.62
$GC,841,1.85,517.5,2900,2118,1905,4094,16.1,10.3,105,850,0.00,0.00,3.08,0.308,8198,0.000,0.000,2902,2119,1878,1878,4094,0,0,0,0,0,0,26.39,25.05,24.43,10.27,49.05
$GC,891,1.85,517.5,2900,2118,1878,4094,10.7,10.9,111,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2119,1878,1878,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.28,50.27
$GC,940,1.94,580.9,2900,2119,1876,4094,5.5,9.8,117,951,0.30,1.08,4.93,0.436,10756,0.037,0.044,2941,1704,1805,1805,4094,0,0,0,0,0,0,26.23,25.68,24.72,10.28,50.78
$STATE,965,end climb,FINISH_DEPTH_REACHED
$STATE,966,begin subsurface finish
$FINISH1,1.9,1.024107,104
$GC,980,0.16,104.0,2941,2144,1804,4094,1.9,10.6,120,999,5.60,0.00,-4.95,0.000,20486,0.021,0.000,2391,2153,2366,2366,4094,0,0,0,0,0,0,26.15,25.46,26.20,10.27,51.33
$FINISH2,0.0
$STATE,1000,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1000,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,090753
$TT8_MAMPS,0.025466,0.259154
$HUMID,50.86
$INTERNAL_PRESSURE,10.336
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,23.87,66.049
$10V_AH,10.07,60.441
$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,35.200,7.025,64.200,0.000,0.000,22.512,20.167,256.549,0.000,0.000,30.877,358.712,0.000,100.380,782.921,362.080,0.000,300.616,0.000,300.737,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1229.355,1238.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.945,331.464,262.229,389.132,508.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,10925,122
$CAP_FILE_SIZE,25185,0
$CFSIZE,1024409600,908722176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,102152,6003.595,-17241.121,8,1.0,29,7.5,0.6,239.2,9,4.9