version: 66.13
glider: 401
mission: 22
dive: 2474
start: 9 8 117 1 30 45
data:
$ID,401
$MISSION,22
$DIVE,2474
$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,20
$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
$GPS1,080917,011018,5949.4194,-17141.3066,12,0.8,15,8.0,0.0,251.8,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-4.6
$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,11,-1.80,-487.5,2387,1959,2376,4092,0.0,0.0,0,29,6.38,0.00,-6.47,0.000,20486,0.023,0.000,1762,1960,3056,3056,4095,0,0,0,0,0,0,26.22,24.31,26.27,10.35,53.34
$GC,36,-1.80,-487.5,1761,1960,3057,4095,-0.0,-0.1,2,44,0.00,1.15,0.00,0.000,516,0.000,0.058,1761,1518,3056,3056,4094,0,0,0,0,0,0,26.45,25.94,26.46,10.49,54.29
$GC,65,-1.80,-487.5,1761,1517,3056,4094,0.0,-0.1,5,73,0.00,1.02,0.00,0.000,1030,0.000,0.030,1762,1966,3056,3056,4094,0,0,0,0,0,0,26.18,26.16,26.20,10.50,53.54
$GC,114,-1.80,-487.5,1761,1966,3057,4094,2.6,-10.1,11,122,0.00,1.15,0.00,0.000,516,0.000,0.050,1762,1516,3057,3057,4095,0,0,0,0,0,0,26.51,26.02,26.52,10.50,52.87
$GC,370,-1.80,-487.5,1761,1516,3065,4095,42.1,-13.9,48,378,0.00,1.10,0.00,0.000,1030,0.000,0.028,1762,1974,3065,3065,4094,0,0,0,0,0,0,26.32,26.29,26.34,10.41,50.63
$GC,418,-1.80,-487.5,1761,1973,3066,4094,48.8,-14.2,54,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1974,3066,3066,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.40,50.19
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,475,-0.45,0.0,1762,2155,3066,4095,55.8,-14.6,60,511,4.57,0.00,28.62,1.262,10244,0.054,0.000,2186,2156,2484,2484,4094,0,0,0,0,0,0,26.17,25.27,24.05,10.39,48.89
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,518,1.80,487.5,2186,2155,2484,4094,59.9,0.0,64,562,7.55,0.00,27.98,1.234,11270,0.030,0.000,2902,2156,1920,1920,4094,0,0,0,0,0,0,25.70,25.91,23.71,10.27,47.99
$GC,603,1.80,487.5,2901,2155,1919,4094,53.3,12.9,74,613,0.00,1.20,0.00,0.000,516,0.000,0.044,2902,1707,1919,1919,4095,0,0,0,0,0,0,25.72,25.32,25.72,10.14,47.20
$GC,744,1.80,487.5,2902,1706,1915,4095,34.5,13.4,94,752,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2125,1915,1915,4094,0,0,0,0,0,0,25.85,25.81,25.89,10.11,47.95
$GC,793,1.80,487.5,2902,2125,1913,4094,27.9,13.8,100,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1913,1913,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.11,47.28
$GC,841,1.80,487.5,2902,2125,1912,4094,21.8,11.0,106,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1911,1911,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.15,48.93
$GC,890,1.80,487.5,2902,2125,1911,4094,16.6,10.8,112,898,0.00,1.10,0.00,0.000,516,0.000,0.047,2902,1707,1911,1911,4094,0,0,0,0,0,0,26.35,25.89,26.36,10.19,50.19
$STATE,1017,end climb,FINISH_DEPTH_REACHED
$STATE,1017,begin subsurface finish
$FINISH1,1.7,1.024225,96
$GC,1033,0.14,95.8,2902,2145,1907,4094,1.7,11.2,131,1051,5.28,0.00,-4.30,0.000,20486,0.022,0.000,2383,2152,2375,2375,4094,0,0,0,0,0,0,26.20,25.47,26.24,10.22,52.95
$FINISH2,0.0
$STATE,1052,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1052,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,010242
$TT8_MAMPS,0.025466,0.250166
$HUMID,53.11
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.71,72.367
$10V_AH,10.01,65.402
$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,23.775,9.725,56.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,364.642,0.000,94.633,549.967,106.961,0.000,287.464,0.000,325.272,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,58.140,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.291,361.393,286.034,423.938,549.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14428,133
$CAP_FILE_SIZE,21355,0
$CFSIZE,1024409600,897908736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,011018,5949.419,-17141.307,12,0.8,15,8.0,0.0,251.8,10,5.0