version: 66.13
glider: 401
mission: 22
dive: 2424
start: 9 7 117 5 45 51
data:
$ID,401
$MISSION,22
$DIVE,2424
$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,34
$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
$GPS1,070917,050641,5953.2773,-17157.9121,10,0.8,16,7.9,0.8,15.8,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-4.3
$GPS2,070917,050641,5953.2773,-17157.9121,10,0.8,16,7.9,0.8,15.8,11,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,105.3,31344,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,2386,1956,2377,4092,0.0,0.0,0,30,6.40,0.00,-6.43,0.000,20486,0.021,0.000,1764,1957,3056,3056,4094,0,0,0,0,0,0,26.14,24.28,26.19,10.33,54.37
$GC,36,-1.80,-487.5,1763,1957,3056,4094,0.3,-4.2,2,46,0.00,1.12,0.00,0.000,516,0.000,0.053,1763,1520,3056,3056,4095,0,0,0,0,0,0,26.36,25.90,26.36,10.47,54.60
$GC,170,-1.80,-487.5,1763,1520,3060,4095,21.2,-17.9,21,179,0.00,1.00,0.00,0.000,1030,0.000,0.028,1763,1944,3061,3061,4095,0,0,0,0,0,0,26.19,26.15,26.24,10.49,54.25
$GC,218,-1.80,-487.5,1763,1945,3061,4095,28.6,-13.1,27,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3061,3061,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.44,54.29
$GC,266,-1.80,-487.5,1763,1945,3062,4094,34.8,-13.4,33,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1945,3063,3063,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,52.79
$GC,314,-1.80,-487.5,1763,1945,3064,4095,41.5,-13.8,39,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3064,3064,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.39,51.53
$GC,363,-1.80,-487.5,1763,1946,3066,4095,48.3,-14.1,45,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3066,3066,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.38,49.88
$GC,411,-1.80,-487.5,1763,1946,3067,4094,55.0,-14.4,51,420,0.00,1.10,0.00,0.000,260,0.000,0.046,1763,2366,3067,3067,4094,0,0,0,0,0,0,26.60,26.11,26.61,10.38,49.56
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,443,-0.45,0.0,1763,2108,3068,4094,58.6,-15.3,53,479,4.57,0.00,28.65,1.297,10244,0.055,0.000,2185,2107,2484,2484,4094,0,0,0,0,0,0,26.12,25.23,24.01,10.38,49.80
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,486,1.80,487.5,2185,2107,2483,4094,63.0,0.0,57,531,7.60,0.95,28.20,1.271,10756,0.029,0.043,2903,1733,1917,1917,4094,0,0,0,0,0,0,25.56,25.50,23.67,10.25,48.97
$GC,630,1.80,487.5,2902,1733,1913,4094,50.0,13.4,75,639,0.00,1.00,0.00,0.000,1030,0.000,0.030,2904,2135,1913,1913,4094,0,0,0,0,0,0,25.60,25.58,25.64,10.10,47.55
$GC,681,1.80,487.5,2903,2135,1912,4094,42.6,13.6,81,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1912,1912,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.10,47.44
$GC,731,1.80,487.5,2903,2135,1910,4094,35.9,13.2,87,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1910,1910,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.09,48.42
$GC,781,1.80,487.5,2903,2135,1909,4094,29.3,13.2,93,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1908,1908,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.09,48.03
$GC,831,1.80,487.5,2904,2134,1907,4094,22.9,12.3,99,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1907,1907,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.12,48.34
$GC,881,1.85,516.7,2903,2134,1906,4094,17.6,10.3,105,892,0.00,1.05,3.05,0.319,8708,0.000,0.043,2903,1735,1881,1881,4094,0,0,0,0,0,0,26.34,24.84,24.15,10.16,50.31
$STATE,1025,end climb,SURFACE_DEPTH_REACHED
$STATE,1030,begin surface coast
$FINISH,0.0,1.024216
$STATE,1045,end surface coast,CONTROL_FINISHED_OK
$STATE,1045,begin surface
$SM_CCo,1154,0.00,0.000,0,0,1876,522.89
$SM_GC,0.84,27.88,0.55,0.00,0.018,0.030,0.000,231,1999,1876,-6.59,-0.87,522.89,0,0,0,0,0,0,26.05,26.23,26.12
$IRIDIUM_FIX,5955.74,-17228.01,070917,045732
$TT8_MAMPS,0.025466,0.247919
$HUMID,54.21
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.67,70.964
$10V_AH,10.04,64.270
$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,46.450,8.950,59.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,370.258,60.147,126.874,532.603,136.012,0.000,327.743,0.000,313.283,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,52.785,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.712,347.822,275.239,408.162,531.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330592
$DATA_FILE_SIZE,10861,128
$CAP_FILE_SIZE,23701,0
$CFSIZE,1024409600,900333568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,060610,5953.322,-17156.084,1,0.9,18,7.9,0.3,62.8,9,4.9