version: 66.13
glider: 401
mission: 22
dive: 2272
start: 9 4 117 17 17 49
data:
$ID,401
$MISSION,22
$DIVE,2272
$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,21
$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
$GPS1,040917,170709,6001.7983,-17237.8555,7,0.8,16,7.6,0.0,41.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-43.2
$GPS2,040917,171711,6001.7817,-17237.8301,6,0.8,17,7.6,0.0,0.0,10,4.7
$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,111.9,29690,-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,6,begin dive
$GC,12,-1.80,-487.5,238,1956,1902,4093,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.101,0.000,943,1954,1902,1902,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.31,51.41
$GC,28,-1.80,-487.5,942,1953,1902,4094,0.8,0.0,1,56,8.70,1.23,-10.48,0.000,18948,0.042,1.235,1758,1521,3055,3055,4095,0,0,0,0,0,0,25.97,24.07,26.01,10.31,51.49
$GC,217,-1.80,-487.5,1757,1521,3059,4095,24.6,-18.1,27,226,0.00,1.02,0.00,0.000,1030,0.000,0.027,1758,1953,3060,3060,4095,0,0,0,0,0,0,26.15,26.12,26.16,10.56,51.10
$GC,266,-1.80,-487.5,1757,1953,3061,4095,33.1,-17.9,33,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1953,3062,3062,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.55,50.86
$GC,314,-1.80,-487.5,1757,1953,3062,4095,40.7,-15.0,39,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1953,3062,3062,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.52,50.07
$GC,361,-1.80,-487.5,1757,1954,3064,4095,47.7,-15.0,45,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1953,3064,3064,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.50,49.76
$STATE,404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,404,begin apogee
$GC,417,-0.45,0.0,1757,2143,3065,4094,55.2,-15.5,51,453,4.60,0.00,28.17,1.234,10244,0.054,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.09,25.32,24.20,10.47,48.58
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,454,begin climb
$GC,459,1.80,487.5,2184,2142,2484,4094,59.3,0.0,55,505,7.55,1.15,27.90,1.212,10756,0.030,0.041,2904,1700,1917,1917,4094,0,0,0,0,0,0,25.58,25.53,23.87,10.34,47.44
$GC,667,1.80,487.5,2903,1699,1913,4094,36.9,14.0,83,676,0.00,1.08,0.00,0.000,1030,0.000,0.028,2904,2138,1912,1912,4094,0,0,0,0,0,0,25.84,25.82,25.87,10.21,46.85
$GC,716,1.80,487.5,2903,2137,1911,4094,30.3,12.9,89,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,1911,1911,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.23,47.40
$GC,764,1.81,488.9,2903,2137,1909,4094,24.8,10.8,95,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,1910,1910,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.25,48.50
$GC,813,2.02,633.5,2903,2137,1909,4094,20.4,8.6,101,831,0.60,1.12,8.93,0.689,10500,0.027,0.044,2976,2566,1747,1747,4094,0,0,0,0,0,0,26.10,25.25,24.63,10.26,49.64
$GC,845,2.21,757.8,2975,2565,1746,4094,17.4,8.9,104,863,0.50,1.12,8.38,0.649,11270,0.028,0.027,3033,2110,1599,1599,4094,0,0,0,0,0,0,25.99,25.94,24.59,10.24,50.15
$GC,904,2.21,757.8,3033,2109,1597,4094,11.0,11.7,111,913,0.00,1.00,0.00,0.000,516,0.000,0.050,3033,1724,1597,1597,4094,0,0,0,0,0,0,26.24,25.80,26.25,10.21,50.78
$GC,958,2.21,757.8,3033,1724,1596,4094,4.3,11.8,118,968,0.00,1.05,0.00,0.000,1030,0.000,0.027,3034,2161,1595,1595,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.21,51.10
$STATE,976,end climb,FINISH_DEPTH_REACHED
$STATE,976,begin subsurface finish
$FINISH1,1.5,1.024106,104
$GC,989,0.16,104.1,3033,2160,1595,4094,1.5,12.3,120,1008,6.57,0.00,-6.65,0.000,20742,0.020,0.000,2387,2169,2367,2367,4094,0,0,0,0,0,0,26.10,24.41,26.15,10.22,50.90
$FINISH2,0.2
$STATE,1009,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,160339
$TT8_MAMPS,0.025466,0.266644
$HUMID,51.37
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,23.87,66.537
$10V_AH,10.07,60.837
$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,37.000,9.225,73.375,0.000,0.000,25.127,15.921,276.101,0.000,0.000,18.401,346.390,0.000,115.485,779.372,374.086,0.000,331.650,0.000,300.779,0.000,0.544,0.000
$DEVICE_MAMPS,100.980,1235.475,1233.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.274,331.485,262.250,388.633,505.699,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329268
$DATA_FILE_SIZE,10847,122
$CAP_FILE_SIZE,27342,0
$CFSIZE,1024409600,907837440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040917,171711,6001.782,-17237.830,6,0.8,17,7.6,0.0,0.0,10,4.7