version: 66.13
glider: 401
mission: 22
dive: 2471
start: 9 8 117 0 16 39
data:
$ID,401
$MISSION,22
$DIVE,2471
$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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,070917,235623,5949.7139,-17141.2129,7,0.7,18,8.0,0.6,78.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-4.1
$GPS2,070917,235623,5949.7139,-17141.2129,7,0.7,18,8.0,0.6,78.8,11,4.9
$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,105.4,14435,-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,-487.5,2388,1958,2374,4092,0.0,0.0,0,25,6.38,0.00,-4.68,0.000,20482,0.021,0.000,1759,1958,2873,2873,4095,0,0,0,0,0,0,26.17,28.83,26.20,10.35,52.87
$GC,32,-1.80,-487.5,1759,1957,2873,4095,0.1,-2.8,2,39,0.00,1.23,-1.67,0.000,16900,0.000,1.227,1759,1518,3057,3057,4095,0,0,0,0,0,0,26.44,24.00,26.39,10.45,53.62
$GC,216,-1.80,-487.5,1759,1518,3063,4095,29.6,-17.9,31,222,0.00,1.02,0.00,0.000,1030,0.000,0.027,1759,1955,3064,3064,4095,0,0,0,0,0,0,26.22,26.18,26.23,10.48,52.67
$GC,258,-1.80,-487.5,1758,1954,3064,4095,35.7,-14.4,37,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1954,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.43,52.28
$GC,300,-1.80,-487.5,1758,1954,3065,4095,41.6,-14.0,43,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1954,3066,3066,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.41,51.69
$GC,341,-1.80,-487.5,1758,1954,3066,4094,47.6,-14.9,49,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1954,3067,3067,4095,0,0,0,0,0,0,26.57,26.58,26.57,10.40,50.03
$GC,382,-1.80,-487.5,1758,1954,3067,4095,53.5,-14.2,55,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1954,3068,3068,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.39,49.48
$STATE,393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,393,begin apogee
$GC,407,-0.45,0.0,1758,2137,3068,4094,56.0,-14.7,57,443,4.60,0.00,28.58,1.258,10244,0.054,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.11,25.22,24.01,10.39,48.97
$STATE,444,end apogee,CONTROL_FINISHED_OK
$STATE,444,begin climb
$GC,450,1.80,487.5,2185,2137,2484,4094,59.8,0.0,63,493,7.60,0.00,28.17,1.236,11270,0.030,0.000,2900,2138,1914,1914,4095,0,0,0,0,0,0,25.65,25.85,23.63,10.27,48.07
$GC,529,1.80,487.5,2899,2137,1914,4095,53.9,11.8,74,535,0.00,1.17,0.00,0.000,516,0.000,0.044,2900,1705,1914,1914,4095,0,0,0,0,0,0,25.65,25.26,25.65,10.13,47.12
$GC,643,1.80,487.5,2899,1704,1910,4095,38.5,13.5,92,650,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2121,1910,1910,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.11,47.20
$GC,686,1.80,487.5,2899,2121,1908,4094,32.8,13.9,98,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2121,1908,1908,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.11,47.44
$GC,727,1.80,487.5,2899,2121,1907,4094,27.3,13.0,104,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2121,1907,1907,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.12,47.99
$GC,769,1.84,512.9,2899,2121,1907,4094,23.1,10.4,110,775,0.00,0.00,2.90,0.309,8198,0.000,0.000,2900,2121,1885,1885,4094,0,0,0,0,0,0,26.27,25.15,24.01,10.17,50.03
$GC,811,1.84,512.9,2899,2121,1884,4094,18.5,11.1,116,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2121,1884,1884,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.18,50.90
$GC,852,1.84,512.9,2899,2121,1883,4094,13.8,11.3,122,859,0.00,1.10,0.00,0.000,516,0.000,0.047,2900,1705,1883,1883,4094,0,0,0,0,0,0,26.35,25.89,26.36,10.19,52.08
$STATE,954,end climb,FINISH_DEPTH_REACHED
$STATE,955,begin subsurface finish
$FINISH1,1.8,1.024237,95
$GC,970,0.14,95.0,2899,2142,1880,4094,1.8,11.4,139,983,5.32,0.00,-4.53,0.000,20486,0.028,0.000,2386,2145,2378,2378,4094,0,0,0,0,0,0,26.16,24.42,26.21,10.21,53.46
$FINISH2,0.1
$STATE,984,end subsurface finish,CONTROL_FINISHED_OK
$STATE,985,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,224101
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.89
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.63,72.280
$10V_AH,10.30,65.322
$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,23.900,7.550,59.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,372.950,228.056,120.080,204.375,122.393,0.000,275.938,0.000,214.523,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,1227.060,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10869,141
$CAP_FILE_SIZE,23243,0
$CFSIZE,1024409600,898056192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,480.64,0x236162,1,24
$GPS,070917,235623,5949.714,-17141.213,7,0.7,18,8.0,0.6,78.8,11,4.9