version: 66.13
glider: 401
mission: 22
dive: 2488
start: 9 8 117 7 10 12
data:
$ID,401
$MISSION,22
$DIVE,2488
$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,44
$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
$GPS1,080917,065915,5950.1294,-17136.9863,4,0.8,21,8.1,0.0,48.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.7
$GPS2,080917,070933,5950.1328,-17136.9004,7,0.7,22,8.1,0.2,64.3,11,5.0
$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,117.1,11292,-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,-487.5,237,1975,1860,4092,0.0,0.0,0,22,8.50,0.00,0.00,0.000,2049,0.095,0.000,948,1975,1860,1860,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.27,52.55
$GC,29,-1.80,-487.5,948,1975,1860,4094,0.8,0.0,1,55,8.55,1.30,-11.05,0.000,19204,0.040,1.225,1750,1520,3056,3056,4094,0,0,0,0,0,0,25.94,23.80,26.01,10.26,52.32
$GC,290,-1.80,-487.5,1749,1520,3063,4094,34.8,-13.9,38,299,0.00,0.98,0.00,0.000,1030,0.000,0.027,1749,1939,3063,3063,4094,0,0,0,0,0,0,26.20,26.18,26.20,10.43,49.88
$GC,339,-1.80,-487.5,1749,1939,3064,4094,41.6,-13.9,44,348,0.00,1.12,0.00,0.000,260,0.000,0.045,1750,2370,3064,3064,4095,0,0,0,0,0,0,26.52,26.03,26.53,10.42,49.40
$GC,416,-1.80,-487.5,1749,2369,3066,4095,52.6,-14.2,54,424,0.00,1.02,0.00,0.000,1030,0.000,0.028,1750,1959,3066,3066,4095,0,0,0,0,0,0,26.23,26.20,26.26,10.40,48.34
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,446,-0.45,0.0,1749,2135,3068,4094,56.2,-15.0,56,489,4.72,0.00,28.77,1.275,10244,0.055,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.06,24.76,23.92,10.39,47.67
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,496,1.80,487.5,2184,2135,2484,4094,61.1,0.0,61,541,7.62,0.00,28.27,1.252,11270,0.030,0.000,2901,2135,1916,1916,4094,0,0,0,0,0,0,25.65,25.86,23.58,10.27,47.24
$GC,582,1.80,487.5,2900,2135,1915,4094,54.6,11.4,71,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1915,1915,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.14,46.06
$GC,632,1.80,487.5,2900,2135,1914,4094,48.6,12.1,77,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1914,1914,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.13,45.86
$GC,683,1.80,487.5,2901,2135,1912,4094,42.1,13.2,83,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1912,1912,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.12,46.18
$GC,733,1.80,487.5,2901,2135,1911,4094,35.4,13.5,89,741,0.00,1.12,0.00,0.000,516,0.000,0.046,2901,1713,1911,1911,4095,0,0,0,0,0,0,26.15,25.70,26.16,10.12,46.57
$GC,881,1.87,532.9,2901,1713,1907,4095,17.4,10.1,110,892,0.10,1.00,3.90,0.441,11270,0.050,0.028,2921,2125,1862,1862,4094,0,0,0,0,0,0,25.97,26.01,24.16,10.18,50.74
$GC,934,1.90,552.5,2921,2125,1861,4094,11.9,10.5,116,943,0.00,0.00,2.78,0.245,8198,0.000,0.000,2921,2125,1841,1841,4094,0,0,0,0,0,0,26.36,24.86,24.24,10.19,51.53
$GC,985,1.90,552.5,2920,2125,1840,4094,6.1,11.5,122,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2125,1840,1840,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.19,52.36
$STATE,1014,end climb,FINISH_DEPTH_REACHED
$STATE,1014,begin subsurface finish
$FINISH1,1.6,1.024245,94
$GC,1028,0.14,94.4,2921,2127,1838,4094,1.6,12.1,126,1048,5.47,1.17,-4.90,0.000,20996,0.023,1.219,2388,1706,2374,2374,4094,0,0,0,0,0,0,26.13,23.94,26.18,10.21,52.67
$FINISH2,0.1
$STATE,1049,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1049,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,055418
$TT8_MAMPS,0.025466,0.23968
$HUMID,53.58
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.58,72.772
$10V_AH,9.98,65.723
$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,34.975,8.150,63.725,0.000,0.000,25.758,20.252,260.728,0.000,0.000,23.632,370.743,0.000,107.148,792.872,398.225,0.000,316.478,0.000,315.324,0.000,0.542,0.000
$DEVICE_MAMPS,94.860,1224.765,1275.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.577,347.826,275.211,408.041,529.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10877,128
$CAP_FILE_SIZE,26176,0
$CFSIZE,1024409600,897220608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1045.29,0x2138dc,5,24
$GPS,080917,070933,5950.133,-17136.900,7,0.7,22,8.1,0.2,64.3,11,5.0