version: 66.13
glider: 401
mission: 22
dive: 2246
start: 9 4 117 7 16 31
data:
$ID,401
$MISSION,22
$DIVE,2246
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,040917,065640,6005.0742,-17242.7754,4,0.9,32,7.5,0.4,217.9,9,4.9
$_CALLS,6
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.9
$GPS2,040917,065640,6005.0742,-17242.7754,4,0.9,32,7.5,0.4,217.9,9,4.9
$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,116.8,36817,-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,-487.5,2386,1941,2370,4092,0.0,0.0,0,29,6.32,0.00,-6.38,0.000,20486,0.021,0.000,1762,1942,3060,3060,4095,0,0,0,0,0,0,26.25,24.39,26.30,10.40,51.65
$GC,36,-1.80,-487.5,1761,1941,3060,4095,0.0,-0.2,2,45,0.00,1.05,0.00,0.000,516,0.000,0.052,1762,1530,3060,3060,4094,0,0,0,0,0,0,26.45,26.01,26.46,10.55,51.81
$GC,188,-1.80,-487.5,1761,1529,3064,4094,21.4,-18.4,24,197,0.00,1.00,0.00,0.000,1030,0.000,0.028,1762,1950,3064,3064,4095,0,0,0,0,0,0,26.28,26.25,26.29,10.54,51.18
$GC,238,-1.80,-487.5,1761,1950,3066,4095,29.6,-16.8,30,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1951,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.53,51.37
$GC,288,-1.80,-487.5,1761,1950,3068,4094,37.9,-17.2,36,297,0.00,1.10,0.00,0.000,260,0.000,0.046,1761,2378,3068,3068,4095,0,0,0,0,0,0,26.61,26.15,26.63,10.52,50.82
$GC,363,-1.80,-487.5,1761,2378,3070,4095,50.3,-15.3,46,372,0.00,1.02,0.00,0.000,1030,0.000,0.027,1761,1966,3070,3070,4094,0,0,0,0,0,0,26.34,26.32,26.36,10.50,50.27
$STATE,386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,386,begin apogee
$GC,399,-0.45,0.0,1762,2149,3070,4094,55.1,-16.4,49,442,4.60,0.00,28.40,1.239,10244,0.057,0.000,2186,2149,2484,2484,4094,0,0,0,0,0,0,26.17,25.04,24.27,10.50,50.23
$STATE,443,end apogee,CONTROL_FINISHED_OK
$STATE,443,begin climb
$GC,449,1.80,487.5,2186,2149,2484,4094,59.9,0.0,54,494,7.55,1.08,27.98,1.222,10500,0.031,0.050,2900,2554,1914,1914,4094,0,0,0,0,0,0,25.64,25.58,23.87,10.37,48.77
$GC,747,1.80,487.5,2899,2553,1907,4094,25.9,13.6,96,756,0.00,1.05,0.00,0.000,1030,0.000,0.024,2900,2126,1906,1906,4094,0,0,0,0,0,0,26.02,25.99,26.05,10.25,48.97
$GC,798,1.80,487.5,2899,2126,1905,4094,19.5,13.0,102,807,0.00,1.17,0.00,0.000,260,0.000,0.048,2900,2557,1905,1905,4094,0,0,0,0,0,0,26.36,25.91,26.37,10.25,49.37
$GC,914,1.80,487.5,2900,2557,1901,4094,5.2,11.6,118,923,0.00,1.10,0.00,0.000,1030,0.000,0.026,2900,2110,1901,1901,4094,0,0,0,0,0,0,26.17,26.13,26.19,10.28,51.10
$STATE,937,end climb,FINISH_DEPTH_REACHED
$STATE,937,begin subsurface finish
$FINISH1,1.5,1.024121,103
$GC,951,0.15,103.0,2900,2109,1900,4094,1.5,11.7,121,969,5.18,0.00,-3.95,0.000,20486,0.021,0.000,2391,2108,2367,2367,4094,0,0,0,0,0,0,26.17,25.53,26.23,10.28,50.74
$FINISH2,0.2
$STATE,970,end subsurface finish,CONTROL_FINISHED_OK
$STATE,970,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,064958
$TT8_MAMPS,0.025466,0.234437
$HUMID,50.94
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.87,65.827
$10V_AH,10.08,60.263
$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,23.650,9.550,56.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,341.665,0.000,90.076,513.627,88.085,0.000,275.849,0.000,302.077,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,52.020,1238.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.778,334.266,264.363,392.163,512.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,10824,123
$CAP_FILE_SIZE,18817,0
$CFSIZE,1024409600,909115392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,065640,6005.074,-17242.775,4,0.9,32,7.5,0.4,217.9,9,4.9