version: 66.13
glider: 401
mission: 22
dive: 2430
start: 9 7 117 8 7 49
data:
$ID,401
$MISSION,22
$DIVE,2430
$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,61
$R_STBD_OVSHOOT,51
$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
$GPS1,070917,072755,5953.2373,-17153.9941,10,0.9,16,7.9,0.0,60.3,9,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-1.6
$GPS2,070917,072755,5953.2373,-17153.9941,10,0.9,16,7.9,0.0,60.3,9,4.9
$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,108.1,27990,-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,-487.5,2384,1977,2377,4092,0.0,0.0,0,30,6.38,0.00,-6.62,0.000,20486,0.021,0.000,1761,1978,3057,3057,4095,0,0,0,0,0,0,26.17,24.29,26.21,10.33,54.72
$GC,36,-1.80,-487.5,1761,1977,3057,4095,0.0,-0.6,2,46,0.00,1.10,0.00,0.000,516,0.000,0.052,1761,1552,3057,3057,4095,0,0,0,0,0,0,26.34,25.91,26.35,10.47,54.68
$GC,196,-1.80,-487.5,1761,1553,3062,4095,26.2,-16.5,25,206,0.00,0.88,0.00,0.000,1030,0.000,0.027,1761,1934,3062,3062,4094,0,0,0,0,0,0,26.20,26.20,26.23,10.46,54.25
$GC,246,-1.80,-487.5,1761,1934,3063,4094,32.5,-13.4,31,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1935,3064,3064,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.41,52.52
$GC,293,-1.80,-487.5,1761,1934,3064,4094,39.0,-13.6,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1934,3064,3064,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.39,51.61
$GC,341,-1.80,-487.5,1761,1935,3066,4094,45.8,-14.0,43,350,0.00,1.15,0.00,0.000,260,0.000,0.047,1761,2371,3066,3066,4095,0,0,0,0,0,0,26.56,26.08,26.58,10.38,50.63
$STATE,404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,404,begin apogee
$GC,417,-0.45,0.0,1761,2147,3068,4094,55.8,-14.4,52,453,4.60,0.00,28.60,1.267,10244,0.056,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.12,25.24,24.03,10.38,49.64
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,455,begin climb
$GC,461,1.80,487.5,2185,2141,2484,4094,60.1,0.0,56,504,7.65,0.00,27.98,1.242,11270,0.031,0.000,2901,2141,1915,1915,4094,0,0,0,0,0,0,25.65,25.84,23.65,10.25,49.40
$GC,546,1.80,487.5,2900,2141,1914,4094,53.5,12.4,66,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1913,1913,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.12,47.32
$GC,596,1.80,487.5,2900,2141,1912,4094,47.2,12.5,72,605,0.00,1.08,0.00,0.000,516,0.000,0.044,2901,1735,1912,1912,4094,0,0,0,0,0,0,25.88,25.47,25.89,10.11,47.44
$GC,712,1.80,487.5,2900,1734,1908,4094,32.1,13.1,88,721,0.00,0.95,0.00,0.000,1030,0.000,0.029,2901,2124,1908,1908,4094,0,0,0,0,0,0,25.87,25.84,25.92,10.10,47.83
$GC,763,1.80,487.5,2900,2123,1907,4094,25.6,12.5,94,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1907,1907,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.10,48.66
$GC,813,1.88,538.1,2901,2123,1906,4094,20.0,10.0,100,824,0.17,0.00,4.12,0.483,10246,0.050,0.000,2929,2124,1856,1856,4094,0,0,0,0,0,0,26.08,25.29,24.21,10.15,49.37
$GC,865,1.88,538.1,2928,2123,1854,4094,14.4,11.4,106,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2123,1854,1854,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.17,51.69
$GC,915,1.88,538.1,2928,2123,1853,4094,8.7,10.8,112,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2124,1853,1853,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.18,52.59
$GC,965,1.88,541.6,2928,2123,1852,4094,3.2,10.7,118,975,0.00,1.00,0.00,0.000,516,0.000,0.047,2929,1740,1851,1851,4094,0,0,0,0,0,0,26.41,25.94,26.42,10.18,53.81
$STATE,982,end climb,SURFACE_DEPTH_REACHED
$STATE,983,begin surface coast
$FINISH,0.2,1.024217
$STATE,997,end surface coast,CONTROL_FINISHED_OK
$STATE,997,begin surface
$SM_CCo,1107,0.00,0.000,0,0,1850,545.21
$SM_GC,0.79,28.25,0.50,0.00,0.020,0.033,0.000,232,1970,1850,-6.59,-1.41,545.21,0,0,0,0,0,0,26.01,26.17,26.09
$IRIDIUM_FIX,5955.74,-17228.01,070917,061058
$TT8_MAMPS,0.025466,0.248668
$HUMID,53.74
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.65,71.130
$10V_AH,10.03,64.405
$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,47.050,7.650,60.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,357.537,60.423,125.717,509.165,125.592,0.000,324.502,0.000,298.745,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,52.020,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.480,331.528,262.341,389.032,507.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10946,122
$CAP_FILE_SIZE,23759,0
$CFSIZE,1024409600,900038656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,082731,5952.934,-17152.348,1,0.8,28,7.9,0.0,16.8,10,4.4