version: 66.13
glider: 401
mission: 22
dive: 2494
start: 9 8 117 9 34 10
data:
$ID,401
$MISSION,22
$DIVE,2494
$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,34
$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
$GPS1,080917,091933,5949.4150,-17133.9629,4,0.8,23,8.1,0.4,358.6,10,4.5
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-37.1
$GPS2,080917,093326,5949.3535,-17133.8750,6,0.7,14,8.1,0.0,0.0,11,4.8
$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,120.2,8168,-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,-487.5,230,1933,1774,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.088,0.000,949,1934,1774,1774,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.25,52.44
$GC,29,-1.80,-487.5,949,1928,1774,4094,0.7,0.0,1,55,8.77,1.33,-12.02,0.000,19204,0.057,1.221,1749,2373,3058,3058,4095,0,0,0,0,0,0,25.86,23.76,25.89,10.26,51.85
$GC,318,-1.80,-487.5,1748,2373,3065,4095,39.7,-14.5,42,327,0.00,1.02,0.00,0.000,1030,0.000,0.029,1749,1963,3066,3066,4095,0,0,0,0,0,0,26.18,26.15,26.18,10.43,49.40
$GC,369,-1.80,-487.5,1748,1963,3067,4095,47.3,-15.1,48,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1963,3067,3067,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.42,47.79
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,427,-0.45,0.0,1749,2145,3068,4095,55.0,-15.7,54,470,4.75,0.00,28.55,1.263,10244,0.054,0.000,2186,2146,2488,2488,4094,0,0,0,0,0,0,26.06,24.75,23.92,10.40,46.96
$STATE,471,end apogee,CONTROL_FINISHED_OK
$STATE,471,begin climb
$GC,477,1.80,487.5,2186,2145,2488,4094,60.3,0.0,59,522,7.60,0.00,28.52,1.242,11270,0.029,0.000,2901,2146,1916,1916,4094,0,0,0,0,0,0,25.65,25.87,23.58,10.28,46.33
$GC,564,1.80,487.5,2900,2145,1915,4094,54.2,12.0,69,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.15,45.78
$GC,614,1.80,487.5,2900,2145,1913,4094,47.8,12.6,75,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1913,1913,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.14,45.51
$GC,663,1.80,487.5,2900,2145,1912,4094,41.5,12.8,81,673,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1712,1912,1912,4094,0,0,0,0,0,0,26.04,25.61,26.05,10.13,46.02
$GC,784,1.80,487.5,2901,1712,1908,4094,25.9,12.6,98,793,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2124,1908,1908,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.13,46.45
$GC,833,1.90,550.8,2901,2123,1907,4094,20.9,9.8,104,843,0.25,0.00,4.90,0.554,10246,0.041,0.000,2937,2124,1841,1841,4094,0,0,0,0,0,0,26.09,25.27,24.20,10.19,48.70
$GC,885,1.90,550.8,2936,2123,1839,4094,15.2,12.0,110,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2124,1839,1839,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.19,50.31
$GC,934,1.90,553.4,2936,2123,1838,4094,9.5,10.7,116,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2123,1838,1838,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.20,52.00
$GC,984,1.90,553.4,2936,2123,1836,4094,3.6,11.3,122,994,0.00,1.10,0.00,0.000,516,0.000,0.047,2937,1707,1836,1836,4094,0,0,0,0,0,0,26.42,25.94,26.43,10.21,52.12
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1002,begin subsurface finish
$FINISH1,0.6,1.024268,93
$GC,1017,0.14,92.8,2937,2158,1836,4094,0.6,12.3,124,1037,5.68,1.27,-4.97,0.000,20996,0.024,1.223,2384,1708,2381,2381,4094,0,0,0,0,0,0,26.15,23.94,26.20,10.21,52.75
$FINISH2,0.1
$STATE,1038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,092604
$TT8_MAMPS,0.025466,0.246421
$HUMID,52.71
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.58,72.944
$10V_AH,9.98,65.858
$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,35.525,8.400,61.975,0.000,0.000,79.642,70.840,283.412,0.000,0.000,16.105,366.799,89.686,107.973,907.921,405.032,0.000,315.760,0.000,310.305,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,1223.235,1263.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.058,342.327,270.885,401.961,521.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,10954,126
$CAP_FILE_SIZE,27333,0
$CFSIZE,1024409600,896925696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,093326,5949.354,-17133.875,6,0.7,14,8.1,0.0,0.0,11,4.8