version: 66.13
glider: 401
mission: 22
dive: 2490
start: 9 8 117 7 49 43
data:
$ID,401
$MISSION,22
$DIVE,2490
$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,23
$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,0.14
$_SM_ANGLEo,-3.8
$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,-487.5,2385,1947,2379,4092,0.0,0.0,0,23,6.32,0.00,-2.05,0.000,20482,0.022,0.000,1764,1945,2594,2594,4094,0,0,0,0,0,0,26.21,28.83,26.27,10.33,54.44
$GC,29,-1.80,-487.5,1764,1945,2594,4094,0.1,0.0,1,40,0.00,1.23,-4.40,0.000,16900,0.000,1.247,1763,1524,3057,3057,4095,0,0,0,0,0,0,26.51,24.01,26.51,10.38,54.52
$GC,254,-1.80,-487.5,1763,1524,3063,4095,31.2,-12.9,33,263,0.00,1.02,0.00,0.000,1030,0.000,0.028,1764,1959,3063,3063,4095,0,0,0,0,0,0,26.28,26.25,26.30,10.42,53.50
$GC,303,-1.80,-487.5,1764,1959,3064,4095,37.9,-13.9,39,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1960,3064,3064,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.40,52.71
$GC,351,-1.80,-487.5,1763,1959,3065,4094,44.8,-14.5,45,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1960,3066,3066,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.38,51.45
$GC,400,-1.80,-487.5,1764,1960,3067,4094,51.7,-13.8,51,409,0.00,1.08,0.00,0.000,260,0.000,0.046,1764,2373,3067,3067,4095,0,0,0,0,0,0,26.63,26.15,26.64,10.38,50.07
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,438,-0.45,0.0,1764,2112,3068,4095,55.8,-14.1,54,475,4.55,0.05,28.62,1.277,10244,0.054,0.148,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.15,25.24,24.01,10.38,50.15
$STATE,476,end apogee,CONTROL_FINISHED_OK
$STATE,477,begin climb
$GC,483,1.80,487.5,2185,2147,2484,4094,60.4,0.0,58,526,7.62,0.00,28.12,1.252,11270,0.031,0.000,2901,2147,1920,1920,4094,0,0,0,0,0,0,25.67,25.89,23.61,10.24,48.50
$GC,568,1.80,487.5,2901,2147,1918,4094,54.6,12.4,68,578,0.00,1.10,0.00,0.000,516,0.000,0.045,2901,1735,1918,1918,4094,0,0,0,0,0,0,25.69,25.31,25.70,10.12,47.79
$GC,702,1.80,487.5,2901,1734,1915,4094,36.7,13.3,87,712,0.00,0.95,0.00,0.000,1030,0.000,0.029,2902,2122,1914,1914,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.10,47.99
$GC,752,1.80,487.5,2901,2122,1913,4094,30.3,13.2,93,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1913,1913,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.09,48.62
$GC,801,1.80,487.5,2901,2122,1912,4094,23.9,13.0,99,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1912,1912,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.09,48.34
$GC,850,1.83,502.5,2901,2121,1911,4094,18.4,10.6,105,859,0.00,0.00,2.28,0.129,8198,0.000,0.000,2901,2123,1902,1902,4094,0,0,0,0,0,0,26.33,24.61,23.94,10.15,49.60
$GC,901,1.92,561.7,2901,2122,1901,4094,13.4,9.9,111,911,0.28,1.02,5.18,0.522,10756,0.038,0.047,2939,1736,1828,1828,4094,0,0,0,0,0,0,26.15,25.45,24.33,10.17,51.33
$STATE,997,end climb,SURFACE_DEPTH_REACHED
$STATE,997,begin surface coast
$FINISH,0.1,1.024239
$STATE,1017,end surface coast,CONTROL_FINISHED_OK
$STATE,1017,begin surface
$SM_CCo,1127,0.00,0.000,0,0,1824,567.53
$SM_GC,0.98,28.23,0.52,0.00,0.019,0.035,0.000,238,1971,1824,-6.55,-1.14,567.53,0,0,0,0,0,0,26.17,26.15,26.21
$IRIDIUM_FIX,5955.74,-17228.01,080917,055418
$TT8_MAMPS,0.025466,0.240429
$HUMID,53.70
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.61,72.814
$10V_AH,10.02,65.763
$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,47.000,8.075,64.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,365.911,60.121,116.315,528.027,128.209,0.000,303.281,0.000,310.411,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1246.950,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.346,345.081,273.048,405.013,527.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,10956,127
$CAP_FILE_SIZE,23294,0
$CFSIZE,1024409600,897122304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,080957,5949.912,-17135.420,4,0.8,40,8.1,0.3,44.6,10,4.9