version: 66.13
glider: 401
mission: 22
dive: 2259
start: 9 4 117 12 11 5
data:
$ID,401
$MISSION,22
$DIVE,2259
$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,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
$GPS1,040917,113227,6003.1982,-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,0.01
$_SM_ANGLEo,-2.0
$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,-487.5,2390,1976,2367,4092,0.0,0.0,0,30,6.35,0.00,-6.25,0.000,20486,0.021,0.000,1765,1976,3057,3057,4095,0,0,0,0,0,0,26.17,24.40,26.20,10.38,51.26
$GC,36,-1.80,-487.5,1765,1976,3057,4095,0.1,-0.7,3,43,0.00,1.15,0.00,0.000,516,0.000,0.047,1765,1524,3057,3057,4095,0,0,0,0,0,0,26.38,25.99,26.39,10.53,51.69
$GC,186,-1.80,-487.5,1764,1524,3062,4095,24.6,-17.2,27,192,0.00,0.95,0.00,0.000,1030,0.000,0.026,1764,1936,3062,3062,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.53,51.14
$GC,228,-1.80,-487.5,1764,1935,3063,4095,31.2,-16.0,33,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1936,3064,3064,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.53,51.29
$GC,269,-1.80,-487.5,1764,1936,3064,4095,38.0,-16.2,39,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1936,3064,3064,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.52,50.98
$GC,310,-1.80,-487.5,1764,1936,3066,4095,44.8,-16.3,45,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1936,3066,3066,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.51,51.22
$GC,350,-1.80,-487.5,1764,1936,3067,4095,51.4,-15.4,51,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1936,3067,3067,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.50,50.70
$STATE,374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,374,begin apogee
$GC,387,-0.45,0.0,1765,2139,3068,4095,55.6,-14.1,55,423,4.55,0.00,28.15,1.228,10244,0.054,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.15,25.37,24.26,10.50,50.43
$STATE,424,end apogee,CONTROL_FINISHED_OK
$STATE,424,begin climb
$GC,429,1.80,487.5,2185,2139,2484,4094,59.2,0.0,61,471,7.55,0.00,27.62,1.209,11270,0.030,0.000,2900,2139,1915,1915,4094,0,0,0,0,0,0,25.71,25.89,23.92,10.37,49.25
$GC,506,1.80,487.5,2899,2139,1914,4094,52.9,13.3,73,513,0.00,1.15,0.00,0.000,516,0.000,0.043,2900,1711,1915,1915,4094,0,0,0,0,0,0,25.71,25.35,25.72,10.24,47.91
$GC,719,1.80,487.5,2900,1711,1908,4094,26.0,11.1,107,726,0.00,1.00,0.00,0.000,1030,0.000,0.028,2900,2124,1908,1908,4094,0,0,0,0,0,0,26.01,25.97,26.02,10.25,49.88
$GC,761,1.80,487.5,2900,2124,1907,4094,21.0,11.6,113,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1907,1907,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.25,50.27
$GC,802,1.81,494.2,2900,2124,1906,4094,16.7,10.7,119,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1906,1906,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.27,50.39
$GC,844,1.85,520.4,2900,2124,1905,4094,12.4,10.4,125,852,0.10,0.00,3.20,0.317,10246,0.076,0.000,2921,2124,1875,1875,4094,0,0,0,0,0,0,26.21,25.46,24.49,10.28,51.73
$GC,887,1.85,520.4,2920,2124,1875,4094,7.5,11.5,131,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2124,1875,1875,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.28,51.61
$GC,928,1.85,520.4,2920,2124,1873,4094,2.6,11.9,137,934,0.00,1.08,0.00,0.000,516,0.000,0.045,2921,1714,1873,1873,4094,0,0,0,0,0,0,26.47,26.01,26.48,10.27,51.69
$STATE,939,end climb,SURFACE_DEPTH_REACHED
$STATE,939,begin surface coast
$FINISH,0.0,1.015928
$STATE,953,end surface coast,CONTROL_FINISHED_OK
$STATE,953,begin surface
$SM_CCo,1061,0.00,0.000,0,0,1872,526.32
$SM_GC,0.83,27.92,0.57,0.00,0.018,0.030,0.000,231,1988,1872,-6.59,-1.28,526.32,0,0,0,0,0,0,25.95,26.25,26.06
$IRIDIUM_FIX,5925.93,-17425.36,040917,101619
$TT8_MAMPS,0.025466,0.103362
$HUMID,51.49
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.92,66.168
$10V_AH,10.37,60.537
$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,46.475,6.925,58.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.888,288.124,144.334,205.779,117.174,0.000,296.227,0.000,214.513,0.000,0.542,0.000
$DEVICE_MAMPS,75.735,47.430,1227.825,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10776,141
$CAP_FILE_SIZE,24210,0
$CFSIZE,1024409600,908476416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,122957,6002.823,-17240.984,7,0.8,25,7.5,0.0,210.6,10,4.9