version: 66.13
glider: 401
mission: 22
dive: 2282
start: 9 4 117 21 3 1
data:
$ID,401
$MISSION,22
$DIVE,2282
$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,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
$GPS1,040917,204326,6000.8994,-17236.1367,8,0.8,13,7.6,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.5
$GPS2,040917,204326,6000.8994,-17236.1367,8,0.8,13,7.6,0.0,0.0,10,5.0
$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,110.6,27523,-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,-487.5,2391,1939,2367,4092,0.0,0.0,0,22,6.40,0.00,-1.98,0.000,20482,0.021,0.000,1762,1939,2580,2580,4095,0,0,0,0,0,0,26.25,28.83,26.29,10.37,52.55
$GC,28,-1.80,-487.5,1762,1939,2580,4095,0.0,0.0,1,39,0.00,1.15,-4.22,0.000,16900,0.000,1.245,1762,1526,3054,3054,4095,0,0,0,0,0,0,26.53,23.81,26.53,10.42,52.63
$GC,130,-1.80,-487.5,1760,1526,3057,4095,14.7,-18.8,15,139,0.00,1.00,0.00,0.000,1030,0.000,0.029,1762,1944,3058,3058,4094,0,0,0,0,0,0,26.22,26.20,26.24,10.52,52.71
$GC,178,-1.80,-487.5,1761,1944,3059,4094,23.8,-18.4,21,188,0.00,1.15,0.00,0.000,260,0.000,0.048,1761,2381,3059,3059,4095,0,0,0,0,0,0,26.53,26.05,26.55,10.53,52.28
$GC,247,-1.80,-487.5,1761,2381,3061,4095,35.7,-15.7,30,257,0.00,1.02,0.00,0.000,1030,0.000,0.028,1761,1972,3061,3061,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.49,52.63
$GC,296,-1.80,-487.5,1760,1972,3062,4095,42.8,-14.5,36,306,0.00,1.15,0.00,0.000,516,0.000,0.048,1761,1517,3062,3062,4095,0,0,0,0,0,0,26.60,26.08,26.60,10.46,51.26
$STATE,372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,372,begin apogee
$GC,386,-0.45,0.0,1762,2139,3065,4094,55.1,-14.8,47,422,4.57,0.00,28.17,1.242,10244,0.055,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.15,25.36,24.23,10.43,49.05
$STATE,423,end apogee,CONTROL_FINISHED_OK
$STATE,424,begin climb
$GC,429,1.80,487.5,2186,2139,2484,4094,59.1,0.0,51,474,7.60,0.00,27.70,1.222,11270,0.032,0.000,2900,2139,1921,1921,4094,0,0,0,0,0,0,25.71,25.89,23.86,10.31,48.77
$GC,515,1.80,487.5,2900,2139,1919,4094,53.3,13.2,61,525,0.00,1.15,0.00,0.000,516,0.000,0.043,2900,1706,1919,1919,4095,0,0,0,0,0,0,25.75,25.38,25.75,10.18,46.65
$GC,734,1.80,487.5,2900,1706,1912,4095,25.5,12.8,92,743,0.00,1.05,0.00,0.000,1030,0.000,0.029,2901,2136,1912,1912,4094,0,0,0,0,0,0,25.98,25.97,26.01,10.21,48.77
$GC,785,1.80,487.5,2900,2136,1911,4094,19.4,10.8,98,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1911,1911,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.23,50.35
$GC,835,1.81,491.7,2900,2136,1910,4094,14.0,10.7,104,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1910,1910,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.24,51.57
$GC,884,1.84,508.5,2900,2136,1908,4094,8.8,10.5,110,892,0.00,0.00,2.75,0.226,8198,0.000,0.000,2900,2136,1889,1889,4094,0,0,0,0,0,0,26.44,25.01,24.42,10.25,52.04
$GC,934,1.87,529.4,2900,2136,1888,4094,3.5,10.5,116,944,0.10,1.12,2.92,0.241,10756,0.075,0.043,2921,1705,1864,1864,4094,0,0,0,0,0,0,26.25,25.16,24.58,10.25,52.44
$STATE,952,end climb,FINISH_DEPTH_REACHED
$STATE,952,begin subsurface finish
$FINISH1,0.6,1.024090,105
$GC,967,0.16,105.3,2922,2146,1863,4094,0.6,10.8,118,986,5.40,1.25,-4.50,0.000,20996,0.021,1.236,2388,1706,2365,2365,4094,0,0,0,0,0,0,26.20,24.23,26.24,10.25,52.87
$FINISH2,0.1
$STATE,987,end subsurface finish,CONTROL_FINISHED_OK
$STATE,988,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,192844
$TT8_MAMPS,0.025466,0.257656
$HUMID,52.79
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.81,66.803
$10V_AH,10.07,61.053
$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,24.075,13.150,61.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,349.088,0.984,96.777,499.436,104.266,0.000,287.747,0.000,295.349,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,1245.420,1241.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.569,326.080,257.999,382.681,498.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,10889,120
$CAP_FILE_SIZE,22123,0
$CFSIZE,1024409600,907345920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,204326,6000.899,-17236.137,8,0.8,13,7.6,0.0,0.0,10,5.0