version: 66.13
glider: 401
mission: 22
dive: 2473
start: 9 8 117 1 10 57
data:
$ID,401
$MISSION,22
$DIVE,2473
$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,31
$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
$GPS1,080917,005556,5949.4746,-17141.1230,4,0.8,46,8.0,0.3,156.4,10,4.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-36.7
$GPS2,080917,011018,5949.4194,-17141.3066,12,0.8,15,8.0,0.0,251.8,10,5.0
$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,103.2,14310,-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,-487.5,230,1940,1826,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.084,0.000,712,1938,1826,1826,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.28,51.26
$GC,26,-1.80,-487.5,711,1936,1826,4094,0.6,0.0,1,56,11.32,1.25,-11.55,0.000,19204,0.047,1.213,1755,2382,3054,3054,4094,0,0,0,0,0,0,25.91,23.77,25.98,10.28,51.45
$GC,86,-1.80,-487.5,1755,2384,3054,4094,-0.0,0.1,10,93,0.00,1.08,0.00,0.000,1030,0.000,0.029,1756,1953,3054,3054,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.54,51.69
$GC,128,-1.80,-487.5,1755,1953,3055,4094,3.2,-11.9,16,135,0.00,1.08,0.00,0.000,516,0.000,0.048,1756,1524,3055,3055,4094,0,0,0,0,0,0,26.30,25.83,26.31,10.54,51.77
$GC,372,-1.80,-487.5,1755,1524,3062,4094,42.5,-14.8,55,379,0.00,1.00,0.00,0.000,1030,0.000,0.025,1756,1954,3062,3062,4094,0,0,0,0,0,0,26.24,26.21,26.25,10.43,48.18
$GC,414,-1.80,-487.5,1755,1954,3064,4094,48.7,-15.2,61,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3064,3064,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.42,47.48
$GC,456,-1.80,-487.5,1755,1954,3064,4095,54.5,-14.0,67,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3064,3064,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.42,47.28
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,480,-0.45,0.0,1756,2136,3065,4095,56.9,-14.3,69,516,4.65,0.00,28.48,1.265,10244,0.054,0.000,2184,2137,2484,2484,4094,0,0,0,0,0,0,26.08,25.18,23.95,10.41,46.45
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,523,1.80,487.5,2184,2136,2484,4094,60.8,0.0,75,565,7.62,0.00,28.20,1.243,11270,0.029,0.000,2901,2137,1916,1916,4094,0,0,0,0,0,0,25.63,25.84,23.60,10.29,46.25
$GC,601,1.80,487.5,2900,2137,1915,4094,54.9,12.1,87,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1914,1914,4094,0,0,0,0,0,0,25.63,25.65,25.64,10.15,45.23
$GC,642,1.80,487.5,2900,2136,1914,4094,49.4,13.6,93,648,0.00,1.12,0.00,0.000,516,0.000,0.044,2900,1717,1913,1913,4094,0,0,0,0,0,0,25.82,25.42,25.84,10.15,45.19
$GC,786,1.80,487.5,2900,1716,1909,4094,30.5,13.0,116,793,0.00,1.00,0.00,0.000,1030,0.000,0.029,2900,2127,1909,1909,4094,0,0,0,0,0,0,25.90,25.86,25.93,10.12,46.45
$GC,828,1.80,487.5,2900,2126,1907,4094,25.0,13.4,122,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.13,46.73
$GC,870,1.87,534.1,2900,2126,1907,4094,20.7,10.1,128,878,0.15,0.00,4.05,0.474,10246,0.056,0.000,2927,2127,1860,1860,4094,0,0,0,0,0,0,26.10,25.25,24.16,10.17,48.38
$GC,913,1.87,534.1,2926,2126,1858,4094,15.8,11.9,134,920,0.00,1.08,0.00,0.000,516,0.000,0.044,2927,1717,1859,1859,4094,0,0,0,0,0,0,26.32,25.87,26.33,10.19,50.35
$STATE,1028,end climb,FINISH_DEPTH_REACHED
$STATE,1028,begin subsurface finish
$FINISH1,1.5,1.024214,97
$GC,1043,0.14,96.6,2927,2140,1855,4094,1.5,12.4,153,1057,5.53,0.00,-4.75,0.000,20486,0.023,0.000,2387,2145,2376,2376,4094,0,0,0,0,0,0,26.15,24.39,26.20,10.21,52.79
$FINISH2,0.1
$STATE,1058,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,010242
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.95
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.60,72.347
$10V_AH,10.15,65.372
$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,34.900,9.075,60.725,0.000,0.000,91.419,67.128,298.920,0.000,0.000,16.507,408.241,344.480,131.511,620.847,415.259,0.000,297.072,0.000,235.872,0.000,0.543,0.000
$DEVICE_MAMPS,84.150,1213.290,1265.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10830,155
$CAP_FILE_SIZE,29622,0
$CFSIZE,1024409600,897957888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,011018,5949.419,-17141.307,12,0.8,15,8.0,0.0,251.8,10,5.0