version: 66.13
glider: 401
mission: 22
dive: 2447
start: 9 7 117 14 46 22
data:
$ID,401
$MISSION,22
$DIVE,2447
$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,15
$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
$GPS1,070917,142636,5951.0195,-17149.1602,9,0.8,16,8.0,0.0,252.2,10,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-2.2
$GPS2,070917,142636,5951.0195,-17149.1602,9,0.8,16,8.0,0.0,252.2,10,4.6
$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,103.5,22207,-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,-487.5,2384,1965,2376,4092,0.0,0.0,0,30,6.35,0.00,-6.43,0.000,20486,0.023,0.000,1769,1965,3057,3057,4094,0,0,0,0,0,0,26.12,24.32,26.14,10.35,52.48
$GC,37,-1.80,-487.5,1769,1965,3057,4094,0.1,-1.8,3,44,0.00,1.20,0.00,0.000,516,0.000,0.060,1769,1510,3057,3057,4095,0,0,0,0,0,0,26.35,25.87,26.36,10.49,52.95
$GC,274,-1.80,-487.5,1768,1509,3064,4095,34.4,-12.9,41,282,0.00,1.05,0.00,0.000,1030,0.000,0.026,1768,1956,3064,3064,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.42,51.92
$GC,317,-1.80,-487.5,1768,1955,3064,4095,40.1,-13.3,47,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1956,3065,3065,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.41,51.29
$GC,358,-1.80,-487.5,1768,1955,3066,4094,45.6,-13.5,53,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1956,3066,3066,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.39,50.15
$GC,400,-1.80,-487.5,1768,1956,3066,4095,51.4,-13.9,59,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1956,3067,3067,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.38,49.05
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,437,-0.45,0.0,1768,2139,3068,4094,55.5,-14.2,63,473,4.53,0.00,28.45,1.255,10244,0.053,0.000,2186,2139,2484,2484,4095,0,0,0,0,0,0,26.14,25.25,24.05,10.38,49.72
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,480,1.80,487.5,2186,2138,2484,4095,59.1,0.0,69,521,7.60,0.00,28.05,1.231,11270,0.029,0.000,2899,2139,1916,1916,4094,0,0,0,0,0,0,25.66,25.86,23.68,10.26,48.14
$GC,557,1.80,487.5,2898,2139,1915,4094,52.9,12.5,81,563,0.00,1.20,0.00,0.000,516,0.000,0.046,2899,1699,1915,1915,4094,0,0,0,0,0,0,25.65,25.27,25.65,10.13,46.85
$GC,683,1.80,487.5,2898,1699,1911,4094,36.5,13.2,101,689,0.00,1.05,0.00,0.000,1030,0.000,0.029,2899,2124,1911,1911,4095,0,0,0,0,0,0,25.79,25.76,25.82,10.11,47.79
$GC,725,1.80,487.5,2898,2124,1910,4095,30.9,13.2,107,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2124,1910,1910,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.10,47.83
$GC,767,1.80,487.5,2898,2124,1908,4094,25.5,12.9,113,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2124,1908,1908,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.10,47.87
$GC,808,1.81,489.2,2898,2124,1907,4094,20.6,10.8,119,815,0.00,1.12,0.00,0.000,516,0.000,0.047,2899,1702,1907,1907,4094,0,0,0,0,0,0,26.29,25.83,26.30,10.15,49.29
$GC,923,1.91,560.3,2898,1702,1905,4094,8.5,9.7,137,937,0.30,1.02,5.12,0.483,11270,0.031,0.029,2937,2126,1831,1831,4094,0,0,0,0,0,0,26.10,26.06,24.39,10.19,52.83
$GC,972,1.91,560.3,2936,2125,1830,4094,2.7,12.0,144,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2125,1830,1830,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.19,53.42
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,0.9,1.024239,95
$GC,997,0.14,94.8,2937,2127,1830,4094,0.9,11.0,146,1011,5.62,0.00,-4.95,0.000,20486,0.020,0.000,2386,2127,2380,2380,4094,0,0,0,0,0,0,26.12,24.41,26.17,10.19,53.78
$FINISH2,0.1
$STATE,1012,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1012,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,131006
$TT8_MAMPS,0.025466,0.111601
$HUMID,53.93
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.68,71.606
$10V_AH,10.30,64.777
$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,24.400,8.650,61.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.448,241.641,125.893,215.227,110.645,0.000,282.301,0.000,224.507,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,59.670,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,10768,148
$CAP_FILE_SIZE,22678,0
$CFSIZE,1024409600,899203072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,142636,5951.020,-17149.160,9,0.8,16,8.0,0.0,252.2,10,4.6