version: 66.13
glider: 401
mission: 22
dive: 2287
start: 9 4 117 23 1 20
data:
$ID,401
$MISSION,22
$DIVE,2287
$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,26
$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
$GPS1,040917,224949,6000.4497,-17236.3516,4,0.8,14,7.6,0.6,265.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-42.3
$GPS2,040917,230041,6000.4351,-17236.5332,8,1.0,23,7.6,0.5,247.5,10,5.0
$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,108.6,27457,-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,-487.5,231,1955,1784,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,2049,0.092,0.000,710,1955,1784,1784,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.28,51.45
$GC,25,-1.80,-487.5,709,1955,1784,4094,0.7,0.0,1,55,11.55,1.20,-11.70,0.000,18692,0.057,1.221,1757,2380,3056,3056,4095,0,0,0,0,0,0,25.96,24.03,26.00,10.28,51.22
$GC,250,-1.80,-487.5,1756,2379,3062,4095,31.8,-14.0,37,256,0.00,1.08,0.00,0.000,1030,0.000,0.029,1757,1947,3062,3062,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.52,50.39
$GC,292,-1.80,-487.5,1756,1946,3064,4094,38.1,-15.9,43,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1946,3064,3064,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.49,50.31
$GC,333,-1.80,-487.5,1756,1946,3065,4095,44.2,-14.9,49,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1947,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.47,49.44
$GC,374,-1.80,-487.5,1756,1946,3066,4095,50.2,-14.4,55,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1946,3066,3066,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.45,48.22
$STATE,403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,403,begin apogee
$GC,416,-0.45,0.0,1756,2142,3067,4094,55.4,-14.4,60,452,4.62,0.00,28.20,1.242,10244,0.056,0.000,2185,2141,2483,2483,4094,0,0,0,0,0,0,26.06,25.29,24.17,10.44,47.71
$STATE,453,end apogee,CONTROL_FINISHED_OK
$STATE,453,begin climb
$GC,459,1.80,487.5,2184,2141,2484,4094,59.6,0.0,66,501,7.62,0.00,27.83,1.219,11270,0.031,0.000,2901,2141,1915,1915,4094,0,0,0,0,0,0,25.65,25.82,23.81,10.32,47.08
$GC,536,1.80,487.5,2901,2141,1914,4094,53.7,11.7,78,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2141,1914,1914,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.19,45.90
$GC,577,1.80,487.5,2901,2141,1913,4094,48.4,13.1,84,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2142,1913,1913,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.18,45.94
$GC,618,1.80,487.5,2901,2141,1911,4094,43.2,12.3,90,625,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1717,1911,1911,4094,0,0,0,0,0,0,25.98,25.58,26.00,10.18,46.18
$GC,756,1.80,487.5,2901,1717,1908,4094,26.6,12.2,112,762,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2136,1907,1907,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.20,48.07
$GC,798,1.84,510.8,2901,2136,1907,4094,22.2,10.4,118,804,0.00,0.00,2.75,0.269,8198,0.000,0.000,2901,2136,1888,1888,4094,0,0,0,0,0,0,26.32,25.33,24.26,10.23,49.40
$GC,840,1.90,549.9,2901,2136,1887,4094,17.9,10.2,124,848,0.22,0.00,3.90,0.437,10246,0.043,0.000,2934,2136,1842,1842,4094,0,0,0,0,0,0,26.13,25.46,24.46,10.23,50.74
$GC,883,1.90,549.9,2934,2136,1841,4094,12.9,11.6,130,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2136,1841,1841,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.24,51.18
$GC,924,1.90,549.9,2934,2136,1839,4094,7.8,12.6,136,931,0.00,1.10,0.00,0.000,516,0.000,0.044,2935,1716,1839,1839,4094,0,0,0,0,0,0,26.39,25.94,26.41,10.24,51.92
$STATE,973,end climb,FINISH_DEPTH_REACHED
$STATE,973,begin subsurface finish
$FINISH1,1.3,1.024107,104
$GC,987,0.16,104.0,2934,2144,1838,4095,1.3,12.2,144,1001,5.55,0.00,-4.72,0.000,20998,0.018,0.000,2392,2144,2367,2367,4094,0,0,0,0,0,0,26.16,24.43,26.20,10.24,52.67
$FINISH2,0.0
$STATE,1002,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1002,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,040917,214648
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.11
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.81,66.945
$10V_AH,10.20,61.156
$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,35.225,7.100,62.675,0.000,0.000,24.007,20.150,306.358,0.000,0.000,25.008,387.358,230.666,135.650,518.193,384.307,0.000,298.835,0.000,223.228,0.000,0.543,0.000
$DEVICE_MAMPS,91.800,1220.940,1241.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10763,146
$CAP_FILE_SIZE,28380,0
$CFSIZE,1024409600,907100160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,230041,6000.435,-17236.533,8,1.0,23,7.6,0.5,247.5,10,5.0