version: 66.13
glider: 401
mission: 22
dive: 2483
start: 9 8 117 5 9 42
data:
$ID,401
$MISSION,22
$DIVE,2483
$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,26
$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
$GPS1,080917,044932,5950.0962,-17139.9141,6,0.8,17,8.0,0.7,325.2,11,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.0
$GPS2,080917,044932,5950.0962,-17139.9141,6,0.8,17,8.0,0.7,325.2,11,4.7
$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,110.1,13653,-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,-487.5,2384,1955,2377,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.021,0.000,1831,1955,2377,2377,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.34,52.63
$GC,26,-1.80,-487.5,1831,1955,2377,4094,0.0,0.0,1,39,0.47,1.23,-6.35,0.000,20740,0.031,1.223,1772,2384,3055,3055,4094,0,0,0,0,0,0,26.19,24.01,26.22,10.34,52.71
$GC,216,-1.80,-487.5,1771,2384,3061,4094,27.1,-13.0,31,223,0.00,1.10,0.00,0.000,1030,0.000,0.031,1772,1943,3060,3060,4094,0,0,0,0,0,0,26.17,26.12,26.20,10.45,53.11
$GC,259,-1.80,-487.5,1771,1943,3061,4094,32.4,-12.5,37,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1943,3061,3061,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.42,51.69
$GC,300,-1.80,-487.5,1771,1943,3063,4094,37.8,-13.3,43,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1943,3062,3062,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.40,50.94
$GC,341,-1.80,-487.5,1771,1943,3063,4094,43.5,-13.4,49,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1943,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.39,49.92
$GC,383,-1.80,-487.5,1772,1942,3064,4095,49.3,-13.9,55,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1943,3065,3065,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.39,49.25
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,432,-0.45,0.0,1771,2150,3066,4095,55.1,-14.1,61,468,4.45,0.00,28.45,1.250,10244,0.054,0.000,2185,2151,2484,2484,4094,0,0,0,0,0,0,26.13,25.25,24.04,10.38,48.58
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,475,1.80,487.5,2184,2150,2484,4094,58.8,0.0,67,517,7.60,0.00,28.08,1.226,11270,0.030,0.000,2899,2151,1915,1915,4094,0,0,0,0,0,0,25.67,25.87,23.65,10.25,47.83
$GC,553,1.80,487.5,2899,2150,1915,4094,52.9,11.8,79,559,0.00,1.17,0.00,0.000,516,0.000,0.044,2899,1712,1915,1915,4095,0,0,0,0,0,0,25.65,25.28,25.66,10.13,46.88
$GC,667,1.80,487.5,2899,1711,1911,4095,38.3,13.1,97,673,0.00,1.02,0.00,0.000,1030,0.000,0.029,2899,2129,1912,1912,4095,0,0,0,0,0,0,25.77,25.75,25.79,10.11,47.87
$GC,709,1.80,487.5,2900,2129,1910,4095,32.9,12.8,103,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2129,1910,1910,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.10,47.83
$GC,751,1.80,487.5,2899,2128,1909,4095,27.4,13.0,109,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2129,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.10,48.77
$GC,792,1.80,487.5,2899,2128,1908,4094,22.3,12.1,115,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2129,1907,1907,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.13,48.42
$GC,834,1.89,548.2,2899,2128,1907,4094,18.3,9.9,121,847,0.22,1.08,4.72,0.525,10756,0.044,0.046,2933,1718,1844,1844,4094,0,0,0,0,0,0,26.10,25.41,24.23,10.16,50.51
$STATE,976,end climb,FINISH_DEPTH_REACHED
$STATE,976,begin subsurface finish
$FINISH1,1.2,1.024260,93
$GC,992,0.14,93.3,2933,2140,1840,4094,1.2,11.6,144,1005,5.62,0.00,-4.90,0.000,20486,0.022,0.000,2387,2141,2382,2382,4094,0,0,0,0,0,0,26.12,24.41,26.17,10.19,54.05
$FINISH2,0.0
$STATE,1006,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1006,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,033315
$TT8_MAMPS,0.025466,0.10486
$HUMID,54.72
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.65,72.629
$10V_AH,10.30,65.598
$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,23.950,7.650,61.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.843,237.100,122.721,211.365,117.325,0.000,275.446,0.000,221.608,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1223.235,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,10779,146
$CAP_FILE_SIZE,22735,0
$CFSIZE,1024409600,897466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,044932,5950.096,-17139.914,6,0.8,17,8.0,0.7,325.2,11,4.7