version: 66.13
glider: 401
mission: 22
dive: 2499
start: 9 8 117 11 24 35
data:
$ID,401
$MISSION,22
$DIVE,2499
$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,24
$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
$GPS1,080917,104430,5948.6167,-17133.2500,7,0.9,25,8.1,0.0,186.0,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-5.0
$GPS2,080917,104430,5948.6167,-17133.2500,7,0.9,25,8.1,0.0,186.0,10,5.0
$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,114.3,6901,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,2381,1942,2380,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.021,0.000,1828,1943,2380,2380,4094,0,0,0,0,0,0,26.47,28.83,28.83,10.34,53.15
$GC,27,-1.80,-487.5,1828,1942,2380,4094,0.1,0.0,1,40,0.43,1.15,-6.40,0.000,20996,0.039,1.235,1781,1522,3056,3056,4094,0,0,0,0,0,0,26.15,23.99,26.18,10.34,52.79
$GC,271,-1.80,-487.5,1781,1522,3063,4094,32.9,-12.8,40,278,0.00,1.00,0.00,0.000,1030,0.000,0.026,1781,1952,3063,3063,4094,0,0,0,0,0,0,26.26,26.23,26.29,10.44,52.99
$GC,314,-1.80,-487.5,1780,1951,3064,4094,38.3,-12.7,46,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1951,3064,3064,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.41,51.73
$GC,355,-1.80,-487.5,1780,1951,3065,4095,43.8,-13.1,52,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1952,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.40,50.90
$GC,396,-1.80,-487.5,1780,1951,3066,4094,49.4,-13.3,58,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1952,3066,3066,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.38,49.96
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,446,-0.45,0.0,1780,2136,3067,4094,55.1,-14.1,64,482,4.35,0.00,28.48,1.252,10244,0.053,0.000,2185,2136,2484,2484,4095,0,0,0,0,0,0,26.15,25.25,24.03,10.38,49.21
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,489,1.80,487.5,2185,2136,2484,4095,59.0,0.0,70,531,7.60,0.00,28.15,1.226,11270,0.030,0.000,2899,2136,1915,1915,4094,0,0,0,0,0,0,25.68,25.88,23.64,10.26,48.50
$GC,566,1.80,487.5,2899,2136,1915,4094,53.3,11.6,82,573,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1708,1915,1915,4094,0,0,0,0,0,0,25.66,25.27,25.67,10.13,47.71
$GC,711,1.80,487.5,2899,1707,1911,4094,34.6,13.1,105,717,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2126,1911,1911,4094,0,0,0,0,0,0,25.84,25.80,25.89,10.10,47.83
$GC,753,1.80,487.5,2899,2125,1909,4094,29.0,13.6,111,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.10,47.95
$GC,795,1.85,518.8,2899,2125,1908,4094,24.2,10.3,117,803,0.10,0.00,3.30,0.389,10246,0.075,0.000,2920,2125,1878,1878,4094,0,0,0,0,0,0,26.06,25.17,24.03,10.14,48.42
$GC,839,1.91,556.3,2919,2125,1877,4094,19.9,10.2,123,846,0.00,0.00,3.83,0.441,8198,0.000,0.000,2920,2126,1835,1835,4094,0,0,0,0,0,0,26.29,25.26,24.18,10.17,50.94
$GC,881,1.91,556.3,2919,2125,1834,4094,15.1,11.1,129,888,0.00,1.10,0.00,0.000,516,0.000,0.045,2920,1709,1833,1833,4094,0,0,0,0,0,0,26.31,25.86,26.32,10.17,51.92
$GC,983,1.91,556.3,2920,1708,1831,4094,2.9,12.1,145,990,0.00,1.00,0.00,0.000,1030,0.000,0.028,2920,2124,1831,1831,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.19,53.66
$STATE,995,end climb,SURFACE_DEPTH_REACHED
$STATE,995,begin surface coast
$FINISH,0.1,1.024267
$STATE,1009,end surface coast,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$SM_CCo,1118,0.00,0.000,0,0,1830,562.38
$SM_GC,0.75,28.17,0.47,0.00,0.019,0.061,0.000,230,1949,1830,-6.59,1.14,562.38,0,0,0,0,0,0,25.97,26.02,26.06
$IRIDIUM_FIX,5955.74,-17228.01,080917,092737
$TT8_MAMPS,0.025466,0.110852
$HUMID,54.13
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.64,73.070
$10V_AH,10.31,65.956
$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,46.300,7.875,63.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,398.912,312.250,138.894,215.349,123.513,0.000,291.019,0.000,225.669,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,1234.710,1251.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.364,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,10808,149
$CAP_FILE_SIZE,24613,0
$CFSIZE,1024409600,896679936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,114416,5948.033,-17132.865,4,0.8,16,8.1,0.5,257.4,9,4.9