version: 66.13
glider: 401
mission: 22
dive: 2241
start: 9 4 117 5 10 8
data:
$ID,401
$MISSION,22
$DIVE,2241
$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,26
$R_STBD_OVSHOOT,59
$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
$GPS1,040917,043245,6005.9614,-17245.9531,11,0.8,15,7.5,0.0,226.2,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-5.1
$GPS2,040917,043245,6005.9614,-17245.9531,11,0.8,15,7.5,0.0,226.2,12,4.7
$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,116.3,40183,-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,-487.5,2390,1999,2365,4092,0.0,0.0,0,30,6.38,0.12,-6.20,0.000,20486,0.021,1.256,1765,1941,3056,3056,4094,0,0,0,0,0,0,26.13,23.75,26.15,10.38,51.69
$GC,37,-1.80,-487.5,1765,1941,3056,4094,0.3,-3.2,3,43,0.00,1.05,0.00,0.000,516,0.000,0.052,1766,1529,3056,3056,4095,0,0,0,0,0,0,26.35,25.95,26.36,10.53,51.81
$GC,239,-1.80,-487.5,1765,1529,3063,4095,32.1,-16.1,35,245,0.00,0.93,0.00,0.000,1030,0.000,0.026,1765,1930,3063,3063,4094,0,0,0,0,0,0,26.26,26.23,26.28,10.51,51.85
$GC,281,-1.80,-487.5,1765,1930,3063,4094,39.5,-16.8,41,288,0.00,1.15,0.00,0.000,260,0.000,0.046,1765,2369,3064,3064,4095,0,0,0,0,0,0,26.55,26.09,26.56,10.50,51.29
$GC,346,-1.80,-487.5,1765,2369,3066,4095,49.7,-14.8,51,353,0.00,1.00,0.00,0.000,1030,0.000,0.028,1765,1970,3066,3066,4095,0,0,0,0,0,0,26.29,26.26,26.31,10.49,50.63
$STATE,377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,377,begin apogee
$GC,389,-0.45,0.0,1765,2133,3067,4094,55.4,-16.3,56,425,4.55,0.00,28.27,1.235,10244,0.054,0.000,2186,2132,2483,2483,4095,0,0,0,0,0,0,26.14,25.34,24.24,10.48,50.47
$STATE,426,end apogee,CONTROL_FINISHED_OK
$STATE,427,begin climb
$GC,432,1.80,487.5,2186,2132,2483,4095,59.5,0.0,62,474,7.53,0.00,27.85,1.222,11270,0.027,0.000,2896,2132,1915,1915,4094,0,0,0,0,0,0,25.63,25.86,23.87,10.35,49.29
$GC,509,1.85,515.7,2896,2132,1914,4094,55.3,10.4,74,518,0.10,1.15,3.42,0.543,10756,0.076,0.044,2913,1706,1882,1882,4094,0,0,0,0,0,0,25.47,25.10,23.86,10.22,48.26
$GC,589,1.85,515.7,2913,1705,1880,4094,45.6,12.9,86,595,0.00,1.02,0.00,0.000,1030,0.000,0.028,2913,2122,1881,1881,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.21,47.99
$GC,631,1.85,515.7,2913,2121,1879,4094,39.8,14.4,92,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2121,1878,1878,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.22,48.26
$GC,672,1.85,515.7,2913,2122,1878,4094,34.5,12.9,98,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,1878,1878,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.23,48.74
$GC,713,1.85,515.7,2913,2122,1876,4094,29.2,12.8,104,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,1876,1876,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.22,49.72
$GC,754,1.85,515.7,2913,2122,1875,4094,24.0,12.5,110,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,1875,1875,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.23,49.72
$GC,795,1.85,515.7,2912,2122,1874,4094,18.7,13.4,116,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2122,1874,1874,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.23,50.39
$GC,836,1.85,515.7,2912,2122,1873,4095,14.0,11.6,122,842,0.00,1.10,0.00,0.000,516,0.000,0.045,2913,1704,1873,1873,4094,0,0,0,0,0,0,26.39,25.94,26.39,10.25,50.63
$STATE,938,end climb,SURFACE_DEPTH_REACHED
$STATE,938,begin surface coast
$FINISH,0.6,1.024121
$STATE,951,end surface coast,CONTROL_FINISHED_OK
$STATE,951,begin surface
$SM_CCo,1059,0.00,0.000,0,0,1869,528.90
$SM_GC,0.88,27.70,0.60,0.00,0.018,0.031,0.000,238,1980,1869,-6.55,-1.18,528.90,0,0,0,0,0,0,26.22,26.22,26.26
$IRIDIUM_FIX,5925.93,-17425.36,040917,031418
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.04
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.75,65.669
$10V_AH,10.37,60.139
$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,46.250,9.125,59.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.927,294.730,140.724,204.670,111.510,0.000,290.276,0.000,214.415,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,1256.130,1235.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,10836,141
$CAP_FILE_SIZE,24149,0
$CFSIZE,1024409600,909361152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,052845,6005.646,-17244.447,5,0.8,13,7.5,0.0,158.0,11,4.6