version: 66.13
glider: 401
mission: 22
dive: 2275
start: 9 4 117 18 27 31
data:
$ID,401
$MISSION,22
$DIVE,2275
$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,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
$GPS1,040917,181412,6001.4868,-17236.9727,7,0.8,37,7.6,0.4,86.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-42.1
$GPS2,040917,182648,6001.4717,-17236.9883,9,1.0,54,7.6,0.0,36.5,8,3.0
$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,111.7,28726,-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,-487.5,238,1982,1843,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.098,0.000,709,1983,1843,1843,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.30,51.33
$GC,25,-1.80,-487.5,708,1982,1843,4094,0.8,0.0,1,56,11.43,1.27,-10.98,0.000,18948,0.054,1.232,1756,1524,3056,3056,4095,0,0,0,0,0,0,26.01,24.01,26.08,10.30,51.53
$GC,232,-1.80,-487.5,1756,1524,3062,4095,30.4,-18.5,34,239,0.00,0.95,0.00,0.000,1030,0.000,0.026,1757,1935,3062,3062,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.57,51.49
$GC,274,-1.80,-487.5,1756,1934,3063,4095,37.3,-16.4,40,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1934,3063,3063,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.53,50.51
$GC,315,-1.80,-487.5,1756,1935,3064,4095,43.1,-14.5,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1935,3064,3064,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.51,49.96
$GC,356,-1.80,-487.5,1756,1935,3065,4095,49.1,-15.1,52,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1935,3065,3065,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.48,49.13
$STATE,392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,392,begin apogee
$GC,405,-0.45,0.0,1756,2134,3066,4094,55.2,-15.0,58,441,4.65,0.00,28.23,1.231,10244,0.053,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.09,25.31,24.20,10.46,48.26
$STATE,442,end apogee,CONTROL_FINISHED_OK
$STATE,442,begin climb
$GC,448,1.80,487.5,2186,2134,2484,4094,59.0,0.0,64,490,7.53,1.10,27.90,1.209,10756,0.030,0.041,2905,1709,1915,1915,4094,0,0,0,0,0,0,25.58,25.53,23.86,10.34,47.79
$GC,607,1.80,487.5,2905,1708,1912,4094,42.9,11.7,89,613,0.00,1.05,0.00,0.000,1030,0.000,0.026,2906,2139,1912,1912,4094,0,0,0,0,0,0,25.74,25.70,25.77,10.19,46.37
$GC,649,1.80,487.5,2905,2138,1911,4094,37.9,12.1,95,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2139,1911,1911,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.20,47.28
$GC,690,1.80,487.5,2905,2138,1910,4094,32.5,13.2,101,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2139,1910,1910,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.20,47.67
$GC,731,1.80,487.5,2905,2138,1909,4094,28.0,10.9,107,737,0.00,1.10,0.00,0.000,516,0.000,0.044,2906,1720,1908,1908,4094,0,0,0,0,0,0,26.26,25.83,26.27,10.22,47.59
$GC,844,1.84,510.0,2905,1720,1906,4094,16.3,10.4,125,852,0.00,0.98,2.70,0.239,9222,0.000,0.028,2906,2126,1888,1888,4094,0,0,0,0,0,0,26.10,26.07,24.34,10.25,51.29
$GC,888,1.89,542.7,2905,2126,1887,4094,11.8,10.3,131,896,0.12,0.00,3.55,0.361,10246,0.063,0.000,2930,2126,1849,1849,4094,0,0,0,0,0,0,26.21,25.51,24.56,10.26,52.08
$GC,931,1.89,542.7,2929,2126,1849,4094,6.9,11.3,137,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2126,1848,1848,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.26,52.48
$GC,972,1.89,542.7,2928,2126,1847,4094,2.3,11.4,143,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2126,1847,1847,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.26,53.03
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,0.4,1.024100,105
$GC,996,0.16,104.5,2930,2127,1846,4094,0.4,11.2,145,1010,5.47,0.00,-4.55,0.000,20486,0.018,0.000,2387,2127,2368,2368,4094,0,0,0,0,0,0,26.22,24.46,26.25,10.27,53.03
$FINISH2,0.2
$STATE,1011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,181847
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.44
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.86,66.620
$10V_AH,10.20,60.895
$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,34.825,6.925,62.375,0.000,0.000,56.223,41.166,282.770,0.000,0.000,55.402,389.583,275.232,135.023,582.104,392.533,0.000,299.292,0.000,224.628,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1232.415,1230.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10845,147
$CAP_FILE_SIZE,29268,0
$CFSIZE,1024409600,907689984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,182648,6001.472,-17236.988,9,1.0,54,7.6,0.0,36.5,8,3.0