version: 66.13
glider: 401
mission: 22
dive: 2242
start: 9 4 117 5 39 53
data:
$ID,401
$MISSION,22
$DIVE,2242
$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,54
$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
$GPS1,040917,052845,6005.6455,-17244.4473,5,0.8,13,7.5,0.0,158.0,11,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-37.4
$GPS2,040917,053913,6005.6001,-17244.3652,11,0.7,15,7.5,0.0,0.0,11,4.5
$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,116.7,38586,-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,-487.5,238,1945,1868,4092,0.0,0.0,0,21,7.55,0.00,0.00,0.000,2049,0.096,0.000,869,1945,1869,1869,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.30,51.14
$GC,27,-1.80,-487.5,869,1945,1869,4094,0.8,0.0,1,55,9.40,1.17,-10.85,0.000,18948,0.040,1.238,1754,1521,3053,3053,4094,0,0,0,0,0,0,25.95,24.05,25.98,10.31,50.94
$GC,255,-1.80,-487.5,1753,1521,3059,4094,28.9,-17.0,33,264,0.00,0.95,0.00,0.000,1030,0.000,0.026,1754,1929,3060,3060,4095,0,0,0,0,0,0,26.17,26.15,26.24,10.54,50.47
$GC,303,-1.80,-487.5,1753,1929,3061,4095,37.0,-17.1,39,313,0.00,1.17,0.00,0.000,260,0.000,0.045,1754,2377,3062,3062,4094,0,0,0,0,0,0,26.49,26.03,26.51,10.53,50.07
$GC,378,-1.80,-487.5,1753,2377,3063,4094,49.5,-15.3,49,387,0.00,1.02,0.00,0.000,1030,0.000,0.028,1753,1967,3064,3064,4094,0,0,0,0,0,0,26.24,26.20,26.25,10.51,49.48
$STATE,408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,408,begin apogee
$GC,420,-0.45,0.0,1754,2149,3065,4094,55.4,-16.7,53,463,4.68,0.00,28.23,1.236,10244,0.055,0.000,2186,2149,2484,2484,4095,0,0,0,0,0,0,26.08,25.24,24.20,10.50,49.40
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,465,begin climb
$GC,470,1.80,487.5,2186,2149,2484,4095,59.7,0.0,58,515,7.55,0.00,27.95,1.217,11270,0.029,0.000,2901,2149,1916,1916,4094,0,0,0,0,0,0,25.69,25.86,23.84,10.37,48.50
$GC,556,1.95,584.2,2900,2149,1915,4094,54.7,9.3,68,576,0.43,1.17,7.12,0.907,10756,0.031,0.043,2949,1707,1803,1803,4094,0,0,0,0,0,0,25.53,25.10,23.91,10.24,46.85
$GC,706,1.95,584.2,2948,1706,1798,4094,35.9,12.2,88,716,0.00,1.00,0.00,0.000,1030,0.000,0.028,2949,2117,1798,1798,4094,0,0,0,0,0,0,25.86,25.82,25.87,10.23,47.48
$GC,757,1.95,584.2,2948,2117,1796,4094,29.2,12.4,94,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2117,1796,1796,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.23,48.58
$GC,806,1.95,584.2,2948,2116,1794,4094,22.9,12.3,100,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2117,1796,1796,4094,0,0,0,0,0,0,26.29,26.31,26.29,10.23,48.54
$GC,856,1.95,584.2,2947,2117,1794,4094,17.2,11.5,106,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2117,1794,1794,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.25,49.60
$GC,905,1.95,584.2,2948,2116,1792,4094,11.5,11.5,112,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2117,1792,1792,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.26,50.07
$GC,955,1.95,584.2,2948,2116,1790,4095,5.4,12.4,118,964,0.00,1.08,0.00,0.000,516,0.000,0.047,2949,1708,1790,1790,4094,0,0,0,0,0,0,26.44,25.98,26.45,10.26,50.63
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.5,1.024127,103
$GC,993,0.15,102.6,2949,2137,1789,4094,1.5,12.6,121,1012,5.68,0.00,-5.12,0.000,20486,0.020,0.000,2390,2145,2367,2367,4095,0,0,0,0,0,0,26.17,25.50,26.22,10.27,51.14
$FINISH2,0.1
$STATE,1013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,042638
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.45
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.84,65.711
$10V_AH,10.07,60.175
$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,35.275,9.200,63.300,0.000,0.000,23.712,23.749,294.530,0.000,0.000,16.338,355.320,0.000,111.545,815.943,365.045,0.000,323.130,0.000,303.139,0.000,0.543,0.000
$DEVICE_MAMPS,96.390,1237.770,1236.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.241,334.148,264.398,392.038,510.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10892,123
$CAP_FILE_SIZE,26506,0
$CFSIZE,1024409600,909312000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,053913,6005.600,-17244.365,11,0.7,15,7.5,0.0,0.0,11,4.5