version: 66.13
glider: 401
mission: 22
dive: 2262
start: 9 4 117 13 18 54
data:
$ID,401
$MISSION,22
$DIVE,2262
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,040917,124017,6002.8052,-17241.1133,6,0.8,22,7.5,0.0,306.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-3.6
$GPS2,040917,124017,6002.8052,-17241.1133,6,0.8,22,7.5,0.0,306.2,10,5.0
$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,112.3,33277,-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,-487.5,2387,1944,2368,4092,0.0,0.0,0,30,6.20,0.00,-6.32,0.000,20486,0.021,0.000,1778,1945,3054,3054,4094,0,0,0,0,0,0,26.25,25.56,26.31,10.38,52.36
$GC,36,-1.80,-487.5,1777,1945,3054,4094,0.1,-1.2,2,46,0.00,1.08,0.00,0.000,516,0.000,0.057,1777,1523,3054,3054,4094,0,0,0,0,0,0,26.46,26.02,26.47,10.54,52.75
$GC,202,-1.80,-487.5,1777,1524,3059,4094,23.7,-16.7,26,211,0.00,1.00,0.00,0.000,1030,0.000,0.027,1777,1949,3059,3059,4095,0,0,0,0,0,0,26.31,26.28,26.32,10.54,52.16
$GC,251,-1.80,-487.5,1777,1949,3060,4095,31.4,-15.7,32,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1949,3060,3060,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.54,52.08
$GC,299,-1.80,-487.5,1777,1949,3062,4094,38.7,-14.9,38,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1949,3062,3062,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.52,51.49
$GC,347,-1.80,-487.5,1777,1949,3063,4095,45.8,-14.6,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1949,3063,3063,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.51,51.61
$GC,395,-1.80,-487.5,1777,1949,3064,4094,52.5,-13.7,50,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1949,3064,3064,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.49,50.27
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,426,-0.45,0.0,1777,2141,3065,4095,55.4,-13.5,52,462,4.38,0.00,28.12,1.244,10244,0.054,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.20,25.40,24.29,10.48,50.59
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2185,2141,2484,4094,59.9,0.0,56,513,7.55,1.10,27.75,1.221,10756,0.030,0.040,2903,1714,1920,1920,4094,0,0,0,0,0,0,25.66,25.60,23.90,10.35,49.80
$GC,616,1.80,487.5,2903,1713,1916,4094,46.6,12.6,75,625,0.00,1.05,0.00,0.000,1030,0.000,0.029,2904,2138,1916,1916,4094,0,0,0,0,0,0,25.73,25.67,25.75,10.22,47.95
$GC,665,1.80,487.5,2904,2137,1914,4094,40.1,11.7,81,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,1914,1914,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.23,47.91
$GC,713,1.80,487.5,2903,2137,1914,4094,34.5,11.9,87,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,1913,1913,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.24,48.89
$GC,762,1.80,487.5,2903,2137,1912,4094,28.7,12.1,93,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1912,1912,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.25,49.40
$GC,811,1.80,487.5,2903,2137,1911,4095,23.0,11.8,99,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,1911,1911,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.26,49.64
$GC,859,1.80,487.5,2903,2137,1910,4094,17.6,11.2,105,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1909,1909,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.27,50.66
$GC,908,1.82,497.8,2903,2138,1908,4094,12.3,10.6,111,918,0.00,1.10,0.95,0.004,8708,0.000,0.041,2904,1712,1908,1908,4094,0,0,0,0,0,0,26.44,26.00,26.43,10.28,51.57
$STATE,997,end climb,SURFACE_DEPTH_REACHED
$STATE,997,begin surface coast
$FINISH,-0.0,1.013252
$STATE,1023,end surface coast,CONTROL_FINISHED_OK
$STATE,1023,begin surface
$SM_CCo,1131,0.00,0.000,0,0,1905,497.99
$SM_GC,0.91,27.67,0.57,0.00,0.018,0.029,0.000,231,1994,1905,-6.59,-1.28,497.99,0,0,0,0,0,0,25.97,26.29,26.08
$IRIDIUM_FIX,5925.93,-17425.36,040917,112642
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.29
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,23.90,66.248
$10V_AH,10.08,60.612
$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,45.800,6.850,56.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,356.440,60.240,124.803,532.261,127.318,0.000,327.983,0.000,313.524,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,56.610,1243.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.249,345.147,272.997,405.040,530.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,10874,127
$CAP_FILE_SIZE,23209,0
$CFSIZE,1024409600,908328960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,133901,6002.516,-17240.715,11,0.8,31,7.5,0.0,247.9,11,4.7