version: 66.13
glider: 401
mission: 22
dive: 2273
start: 9 4 117 17 36 45
data:
$ID,401
$MISSION,22
$DIVE,2273
$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,30
$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
$GPS1,040917,171711,6001.7817,-17237.8301,6,0.8,17,7.6,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-3.0
$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,5,begin dive
$GC,12,-1.80,-487.5,2387,1950,2367,4092,0.0,0.0,0,25,6.32,0.00,-4.80,0.000,20482,0.022,0.000,1764,1950,2891,2891,4094,0,0,0,0,0,0,26.17,28.83,26.19,10.38,51.57
$GC,32,-1.80,-487.5,1764,1950,2890,4094,0.0,-0.8,2,39,0.00,1.12,-1.38,0.000,16900,0.000,1.236,1764,1526,3055,3055,4094,0,0,0,0,0,0,26.44,24.19,26.38,10.50,51.26
$GC,170,-1.80,-487.5,1764,1526,3060,4094,22.0,-18.1,24,177,0.00,1.00,0.00,0.000,1030,0.000,0.027,1764,1952,3059,3059,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.55,51.73
$GC,212,-1.80,-487.5,1764,1952,3060,4095,28.9,-15.8,30,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3061,3061,4094,0,0,0,0,0,0,26.51,26.51,26.52,10.54,51.10
$GC,253,-1.80,-487.5,1764,1952,3062,4094,34.6,-14.0,36,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3062,3062,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.52,51.22
$GC,294,-1.80,-487.5,1764,1952,3062,4095,40.2,-13.6,42,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3063,3063,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.49,50.74
$GC,335,-1.80,-487.5,1764,1952,3064,4094,45.9,-13.9,48,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3064,3064,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.48,50.19
$GC,376,-1.80,-487.5,1764,1953,3065,4094,51.9,-14.3,54,382,0.00,1.10,0.00,0.000,516,0.000,0.048,1764,1524,3065,3065,4095,0,0,0,0,0,0,26.60,26.12,26.60,10.46,49.64
$STATE,394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,394,begin apogee
$GC,408,-0.45,0.0,1764,2131,3066,4095,55.4,-14.5,57,444,4.55,0.00,28.08,1.227,10244,0.054,0.000,2185,2131,2484,2484,4094,0,0,0,0,0,0,26.15,25.35,24.25,10.45,48.77
$STATE,445,end apogee,CONTROL_FINISHED_OK
$STATE,445,begin climb
$GC,451,1.80,487.5,2185,2131,2484,4094,59.3,0.0,63,493,7.53,1.15,27.80,1.206,10500,0.030,0.050,2905,2563,1915,1915,4094,0,0,0,0,0,0,25.59,25.53,23.88,10.33,48.03
$GC,504,1.97,599.2,2905,2563,1915,4094,56.6,9.1,71,518,0.40,1.08,7.85,0.946,11270,0.025,0.024,2955,2134,1785,1785,4094,0,0,0,0,0,0,25.33,25.30,23.89,10.20,46.61
$GC,554,1.97,599.2,2955,2133,1784,4094,50.2,13.3,78,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2134,1785,1785,4094,0,0,0,0,0,0,25.72,25.73,25.72,10.17,46.14
$GC,596,1.97,599.2,2954,2133,1783,4094,44.6,13.2,84,602,0.00,1.08,0.00,0.000,516,0.000,0.045,2955,1721,1783,1783,4094,0,0,0,0,0,0,25.90,25.52,25.91,10.16,46.53
$GC,691,1.97,599.2,2955,1720,1781,4094,31.2,14.0,99,698,0.00,1.02,0.00,0.000,1030,0.000,0.030,2955,2136,1780,1780,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.17,47.71
$GC,733,1.97,599.2,2954,2136,1779,4094,25.8,13.2,105,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2137,1779,1779,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.20,48.70
$GC,774,1.97,599.2,2954,2136,1777,4094,20.7,12.6,111,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2137,1777,1777,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.21,49.88
$GC,815,1.97,599.2,2955,2136,1776,4094,15.6,12.6,117,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2136,1776,1776,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.22,50.86
$GC,856,1.97,599.2,2955,2136,1775,4094,10.2,13.2,123,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2137,1774,1774,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.23,51.96
$GC,897,1.97,599.2,2955,2136,1773,4094,5.0,12.9,129,904,0.00,1.08,0.00,0.000,516,0.000,0.044,2955,1725,1773,1773,4094,0,0,0,0,0,0,26.42,25.98,26.43,10.24,52.08
$STATE,915,end climb,FINISH_DEPTH_REACHED
$STATE,915,begin subsurface finish
$FINISH1,1.9,1.024102,104
$GC,930,0.16,104.4,2955,2146,1772,4094,1.9,12.8,132,944,5.75,0.00,-5.18,0.000,20998,0.023,0.000,2392,2147,2367,2367,4095,0,0,0,0,0,0,26.15,24.46,26.20,10.25,52.16
$FINISH2,0.1
$STATE,945,end subsurface finish,CONTROL_FINISHED_OK
$STATE,945,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,160339
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.26
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.88,66.558
$10V_AH,10.37,60.847
$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,24.550,11.725,63.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,356.306,197.715,139.120,195.746,117.911,0.000,294.312,0.000,204.419,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1236.240,1227.060,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10881,134
$CAP_FILE_SIZE,25488,0
$CFSIZE,1024409600,907788288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,171711,6001.782,-17237.830,6,0.8,17,7.6,0.0,0.0,10,4.7