version: 66.13
glider: 401
mission: 22
dive: 2485
start: 9 8 117 6 1 4
data:
$ID,401
$MISSION,22
$DIVE,2485
$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,25
$R_STBD_OVSHOOT,65
$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
$GPS1,080917,054925,5950.1353,-17138.5605,4,0.8,38,8.1,0.8,27.3,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-37.6
$GPS2,080917,060024,5950.1680,-17138.4648,7,1.0,17,8.1,0.0,25.0,9,4.8
$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,113.5,12546,-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,-487.5,231,1944,1891,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.091,0.000,706,1943,1891,1891,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,51.65
$GC,26,-1.80,-487.5,705,1942,1891,4094,0.6,0.0,1,56,11.52,1.15,-11.02,0.000,19204,0.056,1.207,1754,2343,3057,3057,4094,0,0,0,0,0,0,25.90,23.76,25.94,10.27,51.89
$GC,68,-1.80,-487.5,1754,2343,3057,4094,0.4,-0.5,7,74,0.00,1.00,0.00,0.000,1030,0.000,0.031,1754,1950,3057,3057,4095,0,0,0,0,0,0,25.91,25.88,25.94,10.53,52.20
$GC,109,-1.80,-487.5,1753,1950,3058,4095,5.7,-13.6,13,116,0.00,1.10,0.00,0.000,516,0.000,0.054,1754,1518,3059,3059,4094,0,0,0,0,0,0,26.28,25.79,26.30,10.54,51.77
$GC,331,-1.80,-487.5,1754,1518,3065,4094,40.6,-14.3,48,337,0.00,0.93,0.00,0.000,1030,0.000,0.026,1755,1921,3065,3065,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.42,49.05
$GC,373,-1.80,-487.5,1754,1921,3066,4094,47.2,-15.3,54,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1921,3066,3066,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.41,48.54
$GC,414,-1.80,-487.5,1754,1921,3067,4094,53.4,-14.4,60,421,0.00,1.15,0.00,0.000,260,0.000,0.046,1755,2361,3067,3067,4094,0,0,0,0,0,0,26.54,26.05,26.55,10.40,47.67
$STATE,426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,426,begin apogee
$GC,440,-0.45,0.0,1754,2112,3068,4095,56.1,-15.4,62,476,4.68,0.00,28.62,1.272,10244,0.055,0.000,2185,2111,2484,2484,4094,0,0,0,0,0,0,26.06,25.17,23.94,10.39,47.40
$STATE,477,end apogee,CONTROL_FINISHED_OK
$STATE,477,begin climb
$GC,483,1.80,487.5,2184,2110,2484,4094,60.3,0.0,68,525,7.62,0.00,28.20,1.244,11270,0.029,0.000,2900,2110,1915,1915,4094,0,0,0,0,0,0,25.62,25.81,23.59,10.28,47.32
$GC,560,1.80,487.5,2900,2110,1915,4094,54.2,12.2,80,567,0.00,0.98,0.00,0.000,516,0.000,0.044,2901,1736,1914,1914,4094,0,0,0,0,0,0,25.62,25.26,25.63,10.15,45.98
$GC,680,1.80,487.5,2900,1736,1911,4094,38.7,13.2,99,687,0.00,0.93,0.00,0.000,1030,0.000,0.029,2901,2115,1911,1911,4094,0,0,0,0,0,0,25.77,25.75,25.80,10.12,46.37
$GC,723,1.80,487.5,2900,2114,1909,4094,33.3,12.9,105,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2115,1910,1910,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.12,46.69
$GC,764,1.80,487.5,2900,2115,1908,4094,28.0,13.1,111,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2115,1908,1908,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.11,47.36
$GC,805,1.80,487.5,2900,2115,1907,4094,22.7,12.6,117,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2115,1907,1907,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.14,47.20
$GC,847,1.80,487.5,2900,2115,1906,4095,18.2,11.1,123,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2115,1906,1906,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.18,49.29
$GC,888,1.80,487.5,2900,2115,1904,4094,13.6,11.5,129,895,0.00,1.00,0.00,0.000,516,0.000,0.046,2901,1736,1905,1905,4094,0,0,0,0,0,0,26.36,25.91,26.38,10.20,51.06
$STATE,990,end climb,FINISH_DEPTH_REACHED
$STATE,990,begin subsurface finish
$FINISH1,1.6,1.024260,93
$GC,1006,0.14,93.3,2901,2145,1901,4095,1.6,11.2,146,1019,5.28,0.00,-4.18,0.000,20486,0.020,0.000,2382,2145,2380,2380,4094,0,0,0,0,0,0,26.17,24.41,26.22,10.22,53.74
$FINISH2,0.3
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,044338
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.26
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.59,72.690
$10V_AH,10.14,65.647
$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,34.700,9.950,56.825,0.000,0.000,22.467,17.383,305.766,0.000,0.000,18.427,393.806,234.509,134.485,501.865,416.212,0.000,298.240,0.000,225.952,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1207.170,1272.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10837,148
$CAP_FILE_SIZE,28687,0
$CFSIZE,1024409600,897368064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,060024,5950.168,-17138.465,7,1.0,17,8.1,0.0,25.0,9,4.8