version: 66.13
glider: 401
mission: 22
dive: 2437
start: 9 7 117 10 58 26
data:
$ID,401
$MISSION,22
$DIVE,2437
$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,27
$R_STBD_OVSHOOT,44
$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
$GPS1,070917,104701,5951.8452,-17150.1816,1,0.9,17,8.0,0.0,50.0,10,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-37.2
$GPS2,070917,105747,5951.7710,-17150.2383,9,0.9,18,8.0,0.8,176.2,11,4.8
$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,105.8,23671,-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,-487.5,237,1978,1833,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.100,0.000,704,1979,1833,1833,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.27,51.81
$GC,26,-1.80,-487.5,704,1978,1833,4094,0.8,0.0,1,56,11.52,1.25,-11.62,0.000,18948,0.055,1.219,1756,1526,3055,3055,4094,0,0,0,0,0,0,25.96,23.82,25.99,10.27,52.00
$GC,281,-1.80,-487.5,1756,1525,3062,4094,33.2,-13.7,42,288,0.00,0.98,0.00,0.000,1030,0.000,0.026,1756,1943,3062,3062,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.46,50.43
$GC,323,-1.80,-487.5,1755,1943,3063,4094,39.0,-13.7,48,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1944,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.43,49.80
$GC,365,-1.80,-487.5,1755,1944,3064,4095,44.9,-14.2,54,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1944,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.42,49.05
$GC,406,-1.80,-487.5,1756,1944,3065,4095,51.0,-14.8,60,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1943,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.41,47.59
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,443,-0.45,0.0,1756,2136,3066,4094,55.3,-14.3,64,479,4.65,0.00,28.52,1.252,10244,0.054,0.000,2185,2136,2484,2484,4095,0,0,0,0,0,0,26.06,25.18,23.98,10.40,47.63
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,486,1.80,487.5,2185,2136,2483,4095,59.2,0.0,70,528,7.60,0.00,28.10,1.231,11270,0.029,0.000,2900,2136,1916,1916,4094,0,0,0,0,0,0,25.62,25.82,23.63,10.28,46.73
$GC,563,1.80,487.5,2899,2136,1915,4094,53.4,12.0,82,570,0.00,1.12,0.00,0.000,516,0.000,0.044,2900,1715,1915,1915,4094,0,0,0,0,0,0,25.62,25.25,25.63,10.14,45.62
$GC,695,1.80,487.5,2899,1714,1911,4094,36.5,12.8,103,702,0.00,1.00,0.00,0.000,1030,0.000,0.029,2900,2123,1911,1911,4094,0,0,0,0,0,0,25.79,25.75,25.82,10.12,46.69
$GC,738,1.80,487.5,2899,2122,1910,4094,31.2,12.6,109,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,47.04
$GC,779,1.80,487.5,2899,2122,1908,4094,25.9,13.0,115,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1908,1908,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.11,47.24
$GC,820,1.89,547.8,2899,2122,1908,4094,21.6,9.9,121,828,0.22,0.00,4.78,0.552,10246,0.044,0.000,2932,2122,1844,1844,4094,0,0,0,0,0,0,26.06,25.30,24.23,10.17,48.42
$GC,864,1.89,547.8,2932,2122,1843,4094,16.6,11.8,127,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2122,1843,1843,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,50.70
$GC,905,1.89,547.8,2932,2122,1842,4094,11.6,11.9,133,912,0.00,1.08,0.00,0.000,516,0.000,0.047,2933,1716,1841,1841,4094,0,0,0,0,0,0,26.33,25.86,26.34,10.19,51.85
$STATE,989,end climb,FINISH_DEPTH_REACHED
$STATE,990,begin subsurface finish
$FINISH1,1.5,1.024221,96
$GC,1005,0.14,96.1,2932,2140,1838,4094,1.5,12.9,147,1019,5.60,0.00,-4.93,0.000,20486,0.021,0.000,2386,2149,2376,2376,4094,0,0,0,0,0,0,26.12,24.39,26.17,10.21,52.79
$FINISH2,0.0
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,094135
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.93
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.63,71.339
$10V_AH,10.15,64.557
$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,35.225,6.950,61.400,0.000,0.000,23.850,19.371,293.513,0.000,0.000,20.176,393.147,242.174,131.703,496.717,403.206,0.000,293.937,0.000,227.444,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1219.410,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,10846,149
$CAP_FILE_SIZE,27744,0
$CFSIZE,1024409600,899694592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070917,105747,5951.771,-17150.238,9,0.9,18,8.0,0.8,176.2,11,4.8