version: 66.13
glider: 401
mission: 22
dive: 2487
start: 9 8 117 6 39 43
data:
$ID,401
$MISSION,22
$DIVE,2487
$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,28
$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
$GPS1,080917,060024,5950.1680,-17138.4648,7,1.0,17,8.1,0.0,25.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-5.5
$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,11,-1.80,-487.5,2387,1963,2378,4092,0.0,0.0,0,25,6.38,0.00,-4.70,0.000,20482,0.023,0.000,1765,1965,2878,2878,4094,0,0,0,0,0,0,26.16,28.83,26.19,10.33,53.38
$GC,32,-1.80,-487.5,1764,1964,2878,4094,0.0,-0.9,2,39,0.00,1.20,-1.62,0.000,16644,0.000,1.222,1764,2375,3056,3056,4095,0,0,0,0,0,0,26.46,24.01,26.41,10.43,53.62
$GC,57,-1.80,-487.5,1764,2376,3056,4095,1.7,-4.5,5,64,0.00,1.10,0.00,0.000,1030,0.000,0.031,1764,1939,3056,3056,4095,0,0,0,0,0,0,26.07,26.03,26.10,10.47,54.09
$GC,99,-1.80,-487.5,1764,1939,3057,4095,7.6,-15.3,11,106,0.00,1.17,0.00,0.000,260,0.000,0.047,1764,2372,3057,3057,4094,0,0,0,0,0,0,26.44,25.97,26.44,10.48,53.30
$GC,343,-1.80,-487.5,1764,2372,3064,4094,43.6,-13.5,50,350,0.00,1.02,0.00,0.000,1030,0.000,0.030,1765,1963,3064,3064,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.38,50.19
$GC,386,-1.80,-487.5,1763,1963,3065,4094,49.3,-13.7,56,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1963,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.38,49.80
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,435,-0.45,0.0,1764,2144,3067,4095,55.3,-14.8,62,471,4.53,0.00,28.45,1.262,10244,0.054,0.000,2184,2144,2484,2484,4094,0,0,0,0,0,0,26.13,25.24,24.03,10.38,49.68
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,478,1.80,487.5,2184,2144,2484,4094,59.3,0.0,68,520,7.60,0.00,28.15,1.233,11270,0.030,0.000,2898,2144,1916,1916,4094,0,0,0,0,0,0,25.67,25.87,23.65,10.25,49.44
$GC,555,1.80,487.5,2898,2144,1915,4094,53.2,11.9,80,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2144,1915,1915,4094,0,0,0,0,0,0,25.65,25.66,25.65,10.12,47.63
$GC,597,1.80,487.5,2898,2144,1914,4094,48.1,12.3,86,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2144,1914,1914,4094,0,0,0,0,0,0,25.83,25.85,25.84,10.11,48.18
$GC,638,1.80,487.5,2898,2144,1913,4094,43.1,12.3,92,644,0.00,1.15,0.00,0.000,516,0.000,0.046,2899,1715,1913,1913,4094,0,0,0,0,0,0,25.97,25.56,25.98,10.10,47.95
$GC,752,1.80,487.5,2898,1714,1909,4094,28.8,12.6,110,759,0.00,1.00,0.00,0.000,1030,0.000,0.029,2899,2124,1909,1909,4094,0,0,0,0,0,0,25.93,25.89,25.95,10.09,48.46
$GC,795,1.80,487.5,2898,2124,1908,4094,23.4,12.5,116,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2124,1908,1908,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.09,48.62
$GC,837,1.87,529.0,2898,2124,1907,4094,18.8,10.2,122,844,0.12,0.00,3.80,0.441,10246,0.065,0.000,2921,2124,1865,1865,4094,0,0,0,0,0,0,26.10,25.24,24.13,10.15,49.52
$GC,880,1.87,529.0,2921,2124,1864,4094,14.2,11.1,128,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2124,1864,1864,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.16,51.45
$GC,921,1.87,529.0,2921,2124,1863,4094,9.4,11.7,134,928,0.00,1.10,0.00,0.000,516,0.000,0.047,2922,1709,1863,1863,4094,0,0,0,0,0,0,26.38,25.94,26.39,10.17,52.36
$STATE,981,end climb,SURFACE_DEPTH_REACHED
$STATE,981,begin surface coast
$FINISH,0.0,1.003059
$STATE,994,end surface coast,CONTROL_FINISHED_OK
$STATE,995,begin surface
$SM_CCo,1104,0.00,0.000,0,0,1860,536.62
$SM_GC,0.96,28.02,0.60,0.00,0.020,0.032,0.000,237,1968,1860,-6.55,-1.32,536.62,0,0,0,0,0,0,26.19,26.15,26.22
$IRIDIUM_FIX,5955.74,-17228.01,080917,044338
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.37
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.65,72.732
$10V_AH,10.30,65.686
$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,46.650,9.425,60.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,392.216,301.711,142.092,211.694,128.010,0.000,294.834,0.000,221.598,0.000,0.542,0.000
$DEVICE_MAMPS,65.025,1222.470,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,10814,146
$CAP_FILE_SIZE,25149,0
$CFSIZE,1024409600,897269760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,065915,5950.129,-17136.986,4,0.8,21,8.1,0.0,48.3,10,4.8