version: 66.13
glider: 401
mission: 22
dive: 2432
start: 9 7 117 8 57 54
data:
$ID,401
$MISSION,22
$DIVE,2432
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,070917,083835,5952.8882,-17152.2617,10,0.8,17,7.9,0.5,160.5,10,4.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-3.7
$GPS2,070917,083835,5952.8882,-17152.2617,10,0.8,17,7.9,0.5,160.5,10,4.5
$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,108.3,26256,-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,-487.5,2386,1973,2377,4093,0.0,0.0,0,31,6.38,0.00,-6.60,0.000,20486,0.022,0.000,1760,1973,3055,3055,4095,0,0,0,0,0,0,26.22,24.30,26.27,10.34,53.42
$GC,37,-1.80,-487.5,1760,1973,3055,4095,-0.0,-0.4,2,47,0.00,1.15,0.00,0.000,516,0.000,0.051,1760,1519,3055,3055,4094,0,0,0,0,0,0,26.41,25.96,26.41,10.48,53.85
$GC,249,-1.80,-487.5,1759,1518,3061,4094,30.1,-13.5,32,259,0.00,1.02,0.00,0.000,1030,0.000,0.027,1760,1957,3062,3062,4095,0,0,0,0,0,0,26.27,26.24,26.31,10.43,52.79
$GC,298,-1.80,-487.5,1759,1957,3062,4095,37.8,-14.2,38,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1957,3063,3063,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.41,51.41
$GC,347,-1.80,-487.5,1759,1957,3063,4094,44.5,-14.6,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1957,3064,3064,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.39,50.74
$GC,397,-1.80,-487.5,1759,1957,3066,4095,51.9,-15.0,50,407,0.00,1.08,0.00,0.000,260,0.000,0.046,1760,2369,3066,3066,4094,0,0,0,0,0,0,26.62,26.13,26.63,10.38,49.40
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,428,-0.45,0.0,1760,2120,3066,4095,55.6,-15.1,52,464,4.60,0.00,28.52,1.270,10244,0.054,0.000,2185,2119,2484,2484,4094,0,0,0,0,0,0,26.14,25.25,24.04,10.38,48.97
$STATE,465,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2185,2119,2484,4094,60.2,0.0,56,516,7.62,0.00,28.20,1.246,11270,0.029,0.000,2902,2119,1916,1916,4094,0,0,0,0,0,0,25.67,25.87,23.66,10.25,48.22
$GC,558,1.80,487.5,2901,2119,1915,4094,54.1,12.2,66,567,0.00,1.02,0.00,0.000,516,0.000,0.047,2902,1728,1915,1915,4094,0,0,0,0,0,0,25.69,25.27,25.70,10.12,46.92
$GC,706,1.80,487.5,2901,1728,1911,4094,35.1,12.9,87,716,0.00,0.98,0.00,0.000,1030,0.000,0.029,2902,2126,1910,1910,4094,0,0,0,0,0,0,25.85,25.82,25.88,10.10,47.40
$GC,757,1.80,487.5,2902,2126,1909,4094,28.7,12.5,93,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1909,1909,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.10,47.63
$GC,808,1.82,497.2,2901,2126,1908,4094,22.9,10.6,99,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1907,1907,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.15,48.54
$GC,858,1.91,561.0,2902,2126,1907,4095,17.9,9.8,105,869,0.28,0.00,5.35,0.566,10246,0.039,0.000,2939,2126,1829,1829,4094,0,0,0,0,0,0,26.12,25.36,24.32,10.18,51.33
$GC,910,1.91,561.0,2938,2126,1828,4094,12.3,12.2,111,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2126,1828,1828,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.17,52.63
$GC,960,1.91,561.0,2938,2126,1826,4094,6.5,11.8,117,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2126,1826,1826,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.19,52.91
$STATE,996,end climb,FINISH_DEPTH_REACHED
$STATE,996,begin subsurface finish
$FINISH1,1.2,1.024216,96
$GC,1010,0.14,96.4,2939,2126,1825,4094,1.2,11.7,122,1029,5.68,1.12,-5.07,0.000,20996,0.022,1.232,2388,1735,2374,2374,4094,0,0,0,0,0,0,26.10,23.98,26.16,10.19,52.83
$FINISH2,0.1
$STATE,1030,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1030,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,072202
$TT8_MAMPS,0.025466,0.23968
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.66,71.193
$10V_AH,9.99,64.452
$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,24.550,7.400,62.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,357.017,0.000,101.523,518.886,115.791,0.000,304.757,0.000,304.799,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1232.415,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.759,336.994,266.629,395.456,516.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330620
$DATA_FILE_SIZE,10871,124
$CAP_FILE_SIZE,21501,0
$CFSIZE,1024409600,899940352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,083835,5952.888,-17152.262,10,0.8,17,7.9,0.5,160.5,10,4.5