version: 66.13
glider: 401
mission: 22
dive: 2274
start: 9 4 117 17 54 35
data:
$ID,401
$MISSION,22
$DIVE,2274
$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,31
$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
$GPS1,040917,171711,6001.7817,-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,0.01
$_SM_ANGLEo,-1.2
$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,5,begin dive
$GC,11,-1.80,-487.5,2392,1955,2367,4092,0.0,0.0,0,30,6.40,0.00,-6.40,0.000,20486,0.022,0.000,1761,1955,3057,3057,4095,0,0,0,0,0,0,26.23,24.39,26.29,10.38,52.63
$GC,36,-1.80,-487.5,1761,1955,3056,4095,0.1,-0.7,2,44,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3057,3057,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.53,53.62
$GC,83,-1.80,-487.5,1760,1955,3058,4095,6.5,-16.4,8,92,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3059,3059,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.53,52.36
$GC,131,-1.80,-487.5,1760,1955,3060,4095,15.5,-19.1,14,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3060,3060,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.53,52.48
$GC,179,-1.80,-487.5,1760,1955,3061,4094,24.1,-18.3,20,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3062,3062,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.54,52.87
$GC,227,-1.80,-487.5,1760,1955,3063,4095,32.4,-17.3,26,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3063,3063,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.52,52.44
$GC,275,-1.80,-487.5,1760,1955,3065,4095,39.6,-14.1,32,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.49,51.57
$GC,324,-1.80,-487.5,1760,1955,3066,4095,46.5,-14.6,38,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3066,3066,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.47,50.35
$GC,372,-1.80,-487.5,1760,1955,3067,4095,53.6,-15.1,44,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3067,3067,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.45,49.92
$STATE,390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,390,begin apogee
$GC,403,-0.45,0.0,1761,2146,3068,4094,56.7,-14.5,46,439,4.57,0.00,28.33,1.253,10246,0.054,0.000,2185,2146,2484,2484,4094,0,0,0,0,0,0,26.17,25.37,24.25,10.44,49.56
$STATE,440,end apogee,CONTROL_FINISHED_OK
$STATE,440,begin climb
$GC,446,1.80,487.5,2185,2146,2484,4094,61.1,0.0,50,491,7.57,1.15,27.65,1.230,10756,0.031,0.042,2901,1721,1921,1921,4094,0,0,0,0,0,0,25.72,24.62,23.87,10.31,48.54
$GC,646,1.80,487.5,2901,1720,1917,4094,39.6,12.5,77,656,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2131,1917,1917,4094,0,0,0,0,0,0,25.84,25.82,25.87,10.18,47.44
$GC,697,1.80,487.5,2901,2131,1915,4094,33.3,13.3,83,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1915,1915,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.18,48.18
$GC,747,1.80,487.5,2901,2131,1913,4094,27.2,11.4,89,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1914,1914,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.20,49.25
$GC,797,1.84,508.5,2901,2131,1913,4094,22.0,10.5,95,806,0.00,0.00,2.78,0.270,8198,0.000,0.000,2901,2131,1893,1893,4094,0,0,0,0,0,0,26.36,24.96,24.30,10.23,50.51
$GC,848,1.89,546.0,2901,2131,1892,4094,16.7,10.2,101,859,0.20,1.05,3.90,0.424,10756,0.046,0.041,2933,1716,1847,1847,4095,0,0,0,0,0,0,26.17,25.16,24.53,10.24,51.41
$STATE,976,end climb,SURFACE_DEPTH_REACHED
$STATE,976,begin surface coast
$FINISH,-0.0,1.001528
$STATE,985,end surface coast,CONTROL_FINISHED_OK
$STATE,986,begin surface
$SM_CCo,1094,0.00,0.000,0,0,1843,551.22
$SM_GC,1.01,27.98,0.55,0.00,0.018,0.031,0.000,238,1974,1843,-6.55,-1.55,551.22,0,0,0,0,0,0,26.22,26.22,26.26
$IRIDIUM_FIX,5925.93,-17425.36,040917,160339
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.40
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.87,66.579
$10V_AH,10.07,60.875
$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,46.725,4.700,62.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,348.432,60.176,125.897,502.205,127.767,0.000,324.699,0.000,294.735,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,42.075,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.469,326.074,257.975,382.254,500.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10887,120
$CAP_FILE_SIZE,23034,0
$CFSIZE,1024409600,907739136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,181412,6001.487,-17236.973,7,0.8,37,7.6,0.4,86.0,10,5.0