version: 66.13
glider: 401
mission: 22
dive: 2438
start: 9 7 117 11 17 35
data:
$ID,401
$MISSION,22
$DIVE,2438
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,070917,105747,5951.7710,-17150.2383,9,0.9,18,8.0,0.8,176.2,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-2.3
$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,11,-1.80,-487.5,2386,1944,2376,4092,0.0,0.0,0,21,6.40,0.00,-1.15,0.000,20482,0.023,0.000,1758,1945,2498,2498,4094,0,0,0,0,0,0,26.23,28.83,26.27,10.35,53.78
$GC,28,-1.80,-487.5,1758,1944,2498,4094,0.0,0.0,1,38,0.00,1.20,-5.43,0.000,16900,0.000,1.251,1758,1530,3058,3058,4094,0,0,0,0,0,0,26.50,24.02,26.51,10.37,53.34
$GC,220,-1.80,-487.5,1757,1530,3064,4094,26.3,-17.3,28,229,0.00,1.00,0.00,0.000,1030,0.000,0.028,1758,1956,3064,3064,4094,0,0,0,0,0,0,26.27,26.22,26.28,10.47,53.42
$GC,269,-1.80,-487.5,1757,1955,3065,4094,33.7,-13.7,34,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1956,3065,3065,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.43,52.40
$GC,317,-1.80,-487.5,1757,1955,3067,4094,40.5,-14.2,40,326,0.00,1.08,0.00,0.000,260,0.000,0.045,1758,2369,3065,3065,4095,0,0,0,0,0,0,26.60,26.12,26.61,10.40,51.18
$GC,385,-1.80,-487.5,1757,2369,3068,4095,50.4,-14.5,49,395,0.00,1.00,0.00,0.000,1030,0.000,0.030,1758,1970,3068,3068,4095,0,0,0,0,0,0,26.29,26.26,26.33,10.39,49.48
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,429,-0.45,0.0,1757,2143,3069,4094,55.6,-14.2,53,465,4.62,0.00,28.70,1.265,10244,0.054,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.15,25.26,24.04,10.38,49.88
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2185,2142,2484,4094,59.7,0.0,57,517,7.62,0.00,28.20,1.238,11270,0.031,0.000,2900,2143,1916,1916,4094,0,0,0,0,0,0,25.67,25.88,23.67,10.26,48.34
$GC,558,1.80,487.5,2899,2142,1915,4094,53.5,11.9,67,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.13,47.12
$GC,608,1.80,487.5,2899,2143,1913,4094,46.9,13.2,73,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1913,1913,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.12,46.96
$GC,658,1.80,487.5,2899,2142,1912,4094,40.2,13.1,79,668,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1707,1911,1911,4094,0,0,0,0,0,0,26.04,25.61,26.05,10.11,47.32
$GC,793,1.80,487.5,2900,1707,1908,4094,22.9,11.0,98,802,0.00,1.00,0.00,0.000,1030,0.000,0.030,2900,2117,1908,1908,4094,0,0,0,0,0,0,25.97,25.94,26.00,10.14,48.07
$GC,842,1.80,487.5,2899,2117,1907,4094,17.8,11.0,104,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2118,1906,1906,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.17,50.59
$GC,891,1.86,526.3,2899,2117,1905,4094,12.6,10.2,110,901,0.10,0.00,3.50,0.367,10246,0.078,0.000,2920,2118,1870,1870,4094,0,0,0,0,0,0,26.17,24.87,24.23,10.19,52.55
$GC,942,1.86,526.3,2919,2117,1869,4094,7.2,10.9,116,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2118,1869,1869,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.19,52.52
$STATE,978,end climb,FINISH_DEPTH_REACHED
$STATE,978,begin subsurface finish
$FINISH1,2.0,1.024220,96
$GC,992,0.14,96.1,2919,2125,1867,4094,2.0,12.0,121,1011,5.47,1.17,-4.70,0.000,20996,0.024,1.229,2389,1710,2375,2375,4095,0,0,0,0,0,0,26.13,23.98,26.18,10.20,52.95
$FINISH2,0.0
$STATE,1012,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1012,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,094135
$TT8_MAMPS,0.024717,0.24717
$HUMID,53.26
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.67,71.360
$10V_AH,10.02,64.586
$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,24.225,8.500,60.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,349.201,0.000,98.712,512.103,115.561,0.000,295.040,0.000,302.508,0.000,0.543,0.000
$DEVICE_MAMPS,78.030,1250.775,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.124,334.197,264.489,391.979,510.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,10747,123
$CAP_FILE_SIZE,21807,0
$CFSIZE,1024409600,899645440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,105747,5951.771,-17150.238,9,0.9,18,8.0,0.8,176.2,11,4.8