version: 66.13
glider: 401
mission: 22
dive: 2257
start: 9 4 117 11 33 7
data:
$ID,401
$MISSION,22
$DIVE,2257
$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,31
$R_STBD_OVSHOOT,51
$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
$GPS1,040917,112210,6003.2236,-17241.1035,3,1.1,31,7.5,0.0,218.6,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-41.8
$GPS2,040917,113227,6003.1982,-17241.2461,6,0.8,6,7.5,0.6,357.1,11,0.0
$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,113.3,33751,-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,5,begin dive
$GC,12,-1.80,-487.5,239,1981,1862,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,2049,0.089,0.000,721,1975,1862,1862,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.31,51.26
$GC,25,-1.80,-487.5,720,1976,1861,4094,0.7,0.0,1,56,11.30,1.27,-10.90,0.000,18948,0.053,1.241,1754,1532,3056,3056,4095,0,0,0,0,0,0,25.94,24.00,26.02,10.31,51.65
$GC,238,-1.80,-487.5,1753,1532,3062,4095,25.7,-17.0,35,245,0.00,0.93,0.00,0.000,1030,0.000,0.025,1754,1934,3062,3062,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.55,50.19
$GC,280,-1.80,-487.5,1753,1934,3063,4095,32.8,-16.8,41,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1934,3063,3063,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.54,50.19
$GC,321,-1.80,-487.5,1753,1934,3063,4094,39.9,-17.5,47,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1934,3064,3064,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.53,50.15
$GC,362,-1.80,-487.5,1753,1934,3066,4094,47.2,-17.8,53,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1934,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.52,50.43
$GC,403,-1.80,-487.5,1753,1934,3067,4095,53.7,-16.0,59,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1934,3068,3068,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.51,49.29
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,427,-0.45,0.0,1754,2136,3067,4095,56.2,-14.7,61,463,4.68,0.00,28.33,1.239,10244,0.054,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.09,25.32,24.20,10.50,49.25
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,470,1.80,487.5,2185,2136,2484,4094,60.1,0.0,67,511,7.55,0.00,27.77,1.221,11270,0.029,0.000,2901,2137,1915,1915,4094,0,0,0,0,0,0,25.67,25.84,23.87,10.38,48.46
$GC,546,1.80,487.5,2901,2137,1914,4094,54.2,12.3,79,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1913,1913,4095,0,0,0,0,0,0,25.69,25.70,25.70,10.25,46.96
$GC,588,1.80,487.5,2901,2137,1913,4095,48.9,12.8,85,594,0.00,1.12,0.00,0.000,516,0.000,0.042,2901,1715,1913,1913,4094,0,0,0,0,0,0,25.88,25.49,25.89,10.26,47.16
$GC,796,1.80,487.5,2900,1714,1907,4094,24.0,13.3,118,802,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2129,1907,1907,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.26,49.80
$GC,838,1.80,487.5,2900,2128,1906,4094,18.7,11.6,124,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1906,1906,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.27,49.68
$GC,879,1.80,487.5,2901,2128,1905,4094,14.2,11.0,130,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1905,1905,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.28,50.39
$GC,920,1.80,487.5,2900,2128,1903,4094,9.3,12.1,136,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1903,1903,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.28,51.33
$GC,960,1.80,487.5,2901,2128,1902,4094,4.6,10.9,142,967,0.00,1.08,0.00,0.000,516,0.000,0.043,2901,1714,1902,1902,4094,0,0,0,0,0,0,26.48,26.03,26.49,10.29,50.98
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,1.5,1.024107,104
$GC,999,0.16,104.0,2901,2140,1901,4094,1.5,10.0,146,1013,5.18,0.00,-4.07,0.000,20486,0.020,0.000,2387,2148,2369,2369,4094,0,0,0,0,0,0,26.23,24.48,26.28,10.30,51.96
$FINISH2,0.1
$STATE,1014,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,101619
$TT8_MAMPS,0.025466,0.159537
$HUMID,51.49
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,23.87,66.128
$10V_AH,10.23,60.498
$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,34.350,6.925,56.100,0.000,0.000,23.635,19.636,290.394,0.000,0.000,7.746,389.931,233.844,134.474,494.280,383.999,0.000,298.849,0.000,225.963,0.000,0.543,0.000
$DEVICE_MAMPS,88.740,1240.830,1239.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,10851,148
$CAP_FILE_SIZE,27797,0
$CFSIZE,1024409600,908574720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,113227,6003.198,-17241.246,6,0.8,6,7.5,0.6,357.1,11,0.0