version: 66.13
glider: 401
mission: 22
dive: 2258
start: 9 4 117 11 52 6
data:
$ID,401
$MISSION,22
$DIVE,2258
$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,29
$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
$GPS1,040917,113227,6003.1982,-17241.2461,6,0.8,6,7.5,0.6,357.1,11,0.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-1.4
$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,11,-1.80,-487.5,2386,1951,2369,4092,0.0,0.0,0,29,6.32,0.00,-6.35,0.000,20486,0.020,0.000,1764,1951,3057,3057,4094,0,0,0,0,0,0,26.25,24.39,26.30,10.39,51.61
$GC,35,-1.80,-487.5,1763,1951,3056,4094,0.0,-0.6,2,45,0.00,1.10,0.00,0.000,516,0.000,0.057,1763,1522,3057,3057,4094,0,0,0,0,0,0,26.47,26.03,26.48,10.55,51.92
$GC,238,-1.80,-487.5,1763,1522,3063,4094,31.1,-15.1,31,247,0.00,1.00,0.00,0.000,1030,0.000,0.026,1764,1950,3063,3063,4095,0,0,0,0,0,0,26.33,26.30,26.32,10.53,51.06
$GC,287,-1.80,-487.5,1763,1950,3064,4095,39.5,-15.4,37,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3065,3065,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.52,50.78
$GC,336,-1.80,-487.5,1763,1950,3066,4094,47.2,-16.2,43,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3066,3066,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.51,50.59
$GC,384,-1.80,-487.5,1763,1950,3067,4095,54.6,-15.0,49,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3067,3067,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.50,50.78
$STATE,400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,401,begin apogee
$GC,413,-0.45,0.0,1763,2144,3068,4095,57.6,-13.9,51,449,4.55,0.00,28.20,1.261,10244,0.055,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.19,25.39,24.27,10.49,49.84
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$GC,456,1.80,487.5,2185,2144,2484,4094,61.7,0.0,55,501,7.57,0.00,27.83,1.239,11270,0.030,0.000,2901,2144,1917,1917,4094,0,0,0,0,0,0,25.73,25.91,23.88,10.37,48.85
$GC,542,1.80,487.5,2900,2144,1916,4094,55.9,11.8,65,551,0.00,1.12,0.00,0.000,516,0.000,0.041,2901,1718,1915,1915,4094,0,0,0,0,0,0,25.76,25.40,25.77,10.23,47.79
$GC,758,1.80,487.5,2900,1717,1910,4094,27.5,12.5,96,768,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2130,1910,1910,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.25,49.01
$GC,809,1.80,487.5,2900,2130,1908,4094,21.2,13.0,102,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1908,1908,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.25,49.52
$GC,860,1.87,530.7,2900,2129,1907,4094,15.8,10.1,108,870,0.10,0.00,3.80,0.409,10246,0.075,0.000,2922,2130,1864,1864,4094,0,0,0,0,0,0,26.21,25.14,24.53,10.27,49.96
$GC,911,1.87,530.7,2921,2130,1863,4094,10.1,11.4,114,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2130,1863,1863,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.27,50.66
$GC,960,1.87,530.7,2922,2130,1861,4094,4.6,11.6,120,970,0.00,1.08,0.00,0.000,516,0.000,0.044,2922,1715,1861,1861,4094,0,0,0,0,0,0,26.46,26.02,26.48,10.27,51.57
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,978,begin subsurface finish
$FINISH1,1.9,1.024109,104
$GC,992,0.16,103.9,2922,2141,1860,4095,1.9,11.3,122,1011,5.43,1.23,-4.45,0.000,20996,0.022,1.238,2390,1718,2367,2367,4094,0,0,0,0,0,0,26.19,24.23,26.25,10.28,51.26
$FINISH2,0.0
$STATE,1013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,101619
$TT8_MAMPS,0.025466,0.232939
$HUMID,51.33
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.88,66.149
$10V_AH,10.11,60.527
$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,23.975,8.500,59.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,349.584,0.395,98.170,518.973,108.215,0.000,296.593,0.000,305.613,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,1237.770,1261.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.287,336.988,266.557,395.210,516.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10956,124
$CAP_FILE_SIZE,20982,0
$CFSIZE,1024409600,908525568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,113227,6003.198,-17241.246,6,0.8,6,7.5,0.6,357.1,11,0.0