version: 66.13
glider: 401
mission: 22
dive: 2489
start: 9 8 117 7 29 53
data:
$ID,401
$MISSION,22
$DIVE,2489
$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,46
$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
$GPS1,080917,070933,5950.1328,-17136.9004,7,0.7,22,8.1,0.2,64.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.0
$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,11,-1.80,-487.5,2388,1977,2374,4092,0.0,0.0,0,19,5.70,0.00,0.00,0.000,4097,0.024,0.000,1837,1978,2374,2374,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.34,53.74
$GC,26,-1.80,-487.5,1836,1977,2373,4094,0.1,0.0,1,39,0.65,1.33,-6.43,0.000,20996,0.034,1.238,1766,1520,3056,3056,4094,0,0,0,0,0,0,26.14,23.99,26.17,10.34,53.85
$GC,276,-1.80,-487.5,1766,1520,3062,4094,27.6,-12.1,41,283,0.00,0.98,0.00,0.000,1030,0.000,0.026,1766,1940,3062,3062,4094,0,0,0,0,0,0,26.26,26.23,26.27,10.44,52.95
$GC,319,-1.80,-487.5,1765,1940,3063,4094,33.0,-13.1,47,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1940,3063,3063,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.42,52.55
$GC,360,-1.80,-487.5,1765,1940,3064,4095,38.6,-13.5,53,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1940,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.41,50.86
$GC,402,-1.80,-487.5,1766,1941,3065,4095,44.1,-13.9,59,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1941,3065,3065,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.39,50.15
$GC,443,-1.80,-487.5,1765,1941,3066,4094,50.1,-14.5,65,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1941,3066,3066,4094,0,0,0,0,0,0,26.61,26.63,26.62,10.38,49.92
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,486,-0.45,0.0,1766,2129,3067,4095,55.3,-14.9,70,522,4.53,0.00,28.48,1.261,10244,0.054,0.000,2184,2129,2484,2484,4094,0,0,0,0,0,0,26.14,25.25,24.03,10.38,48.85
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,530,1.80,487.5,2184,2129,2484,4094,59.5,0.0,76,572,7.47,1.10,28.10,1.235,10756,0.028,0.042,2902,1706,1916,1916,4094,0,0,0,0,0,0,25.58,25.52,23.63,10.25,48.11
$GC,695,1.80,487.5,2901,1706,1913,4094,42.3,12.8,102,702,0.00,1.08,0.00,0.000,1030,0.000,0.029,2901,2139,1912,1912,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.11,47.79
$GC,737,1.80,487.5,2900,2139,1911,4094,37.0,12.8,108,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1911,1911,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.11,48.14
$GC,779,1.80,487.5,2901,2139,1910,4094,31.5,13.6,114,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1910,1910,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.10,47.83
$GC,821,1.80,487.5,2901,2138,1908,4094,25.9,13.1,120,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1908,1908,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.09,48.26
$GC,862,1.80,487.5,2901,2139,1907,4095,20.7,11.8,126,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1907,1907,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.14,48.93
$GC,904,1.82,497.0,2901,2139,1906,4094,16.3,10.6,132,910,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1709,1905,1905,4095,0,0,0,0,0,0,26.34,25.89,26.35,10.17,50.78
$STATE,1030,end climb,FINISH_DEPTH_REACHED
$STATE,1030,begin subsurface finish
$FINISH1,1.4,1.024245,94
$GC,1046,0.14,94.4,2901,2139,1902,4094,1.4,11.9,153,1059,5.28,0.00,-4.35,0.000,20486,0.022,0.000,2385,2147,2379,2379,4094,0,0,0,0,0,0,26.17,24.42,26.22,10.20,53.85
$FINISH2,0.1
$STATE,1060,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1060,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,055418
$TT8_MAMPS,0.025466,0.107856
$HUMID,54.84
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.63,72.793
$10V_AH,10.30,65.733
$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,23.625,7.750,56.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,402.331,260.493,119.181,224.271,117.554,0.000,276.599,0.000,234.283,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1237.770,1260.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,10789,155
$CAP_FILE_SIZE,22640,0
$CFSIZE,1024409600,897171456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,070933,5950.133,-17136.900,7,0.7,22,8.1,0.2,64.3,11,5.0