version: 66.13
glider: 401
mission: 22
dive: 2450
start: 9 7 117 15 57 9
data:
$ID,401
$MISSION,22
$DIVE,2450
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,070917,153729,5951.1680,-17148.4707,14,1.0,20,8.0,0.2,335.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-6.0
$GPS2,070917,153729,5951.1680,-17148.4707,14,1.0,20,8.0,0.2,335.9,11,4.8
$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,104.8,21716,-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,-487.5,2384,1933,2378,4092,0.0,0.0,0,31,6.32,0.00,-6.35,0.000,20486,0.018,0.000,1758,1934,3057,3057,4095,0,0,0,0,0,0,26.25,24.31,26.29,10.35,53.42
$GC,37,-1.80,-487.5,1757,1934,3057,4095,0.2,-2.6,2,47,0.00,1.17,0.00,0.000,260,0.000,0.041,1757,2377,3057,3057,4095,0,0,0,0,0,0,26.41,25.99,26.42,10.49,53.26
$GC,281,-1.80,-487.5,1757,2377,3064,4095,37.6,-13.9,37,290,0.00,1.08,0.00,0.000,1030,0.000,0.031,1757,1944,3065,3065,4094,0,0,0,0,0,0,26.22,26.19,26.25,10.41,51.41
$GC,330,-1.80,-487.5,1757,1944,3066,4094,44.5,-14.1,43,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1944,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.40,49.96
$GC,379,-1.80,-487.5,1757,1944,3067,4095,51.5,-14.2,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1944,3067,3067,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.39,49.17
$STATE,402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,402,begin apogee
$GC,416,-0.45,0.0,1757,2148,3068,4095,55.9,-15.0,52,458,4.62,0.00,28.58,1.268,10244,0.056,0.000,2184,2148,2484,2484,4095,0,0,0,0,0,0,26.13,24.86,24.04,10.38,49.29
$STATE,459,end apogee,CONTROL_FINISHED_OK
$STATE,459,begin climb
$GC,465,1.80,487.5,2184,2148,2484,4095,60.5,0.0,57,510,7.62,0.00,28.15,1.249,11270,0.029,0.000,2900,2148,1917,1917,4094,0,0,0,0,0,0,25.70,25.91,23.66,10.26,47.99
$GC,551,1.80,487.5,2899,2148,1915,4094,54.4,11.5,67,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1915,1915,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.13,46.57
$GC,601,1.80,487.5,2900,2148,1914,4094,47.9,13.2,73,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1914,1914,4095,0,0,0,0,0,0,25.91,25.91,25.91,10.12,47.44
$GC,651,1.80,487.5,2900,2148,1912,4095,41.4,13.2,79,660,0.00,1.17,0.00,0.000,516,0.000,0.044,2900,1707,1911,1911,4094,0,0,0,0,0,0,26.04,25.62,26.06,10.11,47.83
$GC,784,1.80,487.5,2900,1707,1909,4094,24.3,12.2,98,794,0.00,1.02,0.00,0.000,1030,0.000,0.028,2900,2127,1908,1908,4094,0,0,0,0,0,0,25.98,25.98,26.01,10.14,48.58
$GC,835,1.93,569.2,2900,2127,1907,4094,19.3,9.6,104,844,0.35,0.00,5.80,0.599,10246,0.034,0.000,2942,2127,1820,1820,4094,0,0,0,0,0,0,26.10,25.36,24.32,10.18,50.39
$GC,886,1.95,586.0,2941,2127,1818,4094,14.3,10.5,110,894,0.00,0.00,2.72,0.242,8198,0.000,0.000,2942,2127,1800,1800,4094,0,0,0,0,0,0,26.32,24.91,24.28,10.18,51.57
$GC,936,1.95,586.0,2941,2127,1799,4094,8.1,12.7,116,945,0.00,1.10,0.00,0.000,516,0.000,0.048,2943,1713,1798,1798,4094,0,0,0,0,0,0,26.36,25.89,26.36,10.18,52.71
$STATE,986,end climb,FINISH_DEPTH_REACHED
$STATE,986,begin subsurface finish
$FINISH1,1.2,1.024238,95
$GC,1001,0.14,94.9,2942,2154,1796,4094,1.2,10.7,123,1019,5.72,0.00,-5.35,0.000,20486,0.022,0.000,2385,2152,2376,2376,4095,0,0,0,0,0,0,26.11,25.44,26.17,10.20,53.34
$FINISH2,0.1
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,142103
$TT8_MAMPS,0.025466,0.249417
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.66,71.694
$10V_AH,9.98,64.854
$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,24.650,7.625,65.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,350.221,0.000,102.296,519.332,110.851,0.000,301.142,0.000,306.798,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,48.195,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.457,339.646,268.804,398.754,517.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,10868,125
$CAP_FILE_SIZE,21418,0
$CFSIZE,1024409600,899088384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,153729,5951.168,-17148.471,14,1.0,20,8.0,0.2,335.9,11,4.8