version: 66.13
glider: 401
mission: 22
dive: 2500
start: 9 8 117 11 57 4
data:
$ID,401
$MISSION,22
$DIVE,2500
$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,30
$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
$GPS1,080917,114416,5948.0327,-17132.8652,4,0.8,16,8.1,0.5,257.4,9,4.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.1
$GPS2,080917,115625,5947.9487,-17132.9922,6,0.7,16,8.1,0.0,272.5,11,5.0
$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,105.7,6104,-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,-487.5,230,1949,1829,4091,0.0,0.0,0,22,8.50,0.00,0.00,0.000,2049,0.087,0.000,953,1949,1830,1830,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.26,51.89
$GC,29,-1.80,-487.5,952,1949,1830,4094,0.7,0.0,1,57,8.75,1.17,-11.48,0.000,18948,0.054,1.223,1752,1522,3054,3054,4095,0,0,0,0,0,0,25.87,23.76,25.91,10.27,52.04
$GC,278,-1.80,-487.5,1752,1522,3061,4095,34.9,-14.5,36,288,0.00,1.00,0.00,0.000,1030,0.000,0.025,1752,1951,3061,3061,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.46,50.27
$GC,328,-1.80,-487.5,1752,1950,3062,4095,42.0,-14.4,42,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1950,3063,3063,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.43,49.13
$GC,377,-1.80,-487.5,1752,1950,3064,4095,49.1,-14.5,48,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1950,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.42,48.50
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,427,-0.45,0.0,1752,2140,3065,4094,55.4,-15.0,53,463,4.68,0.00,28.58,1.252,10244,0.054,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.07,25.15,23.94,10.40,46.96
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,470,1.80,487.5,2186,2140,2484,4094,59.7,0.0,57,514,7.60,0.00,28.15,1.229,11270,0.029,0.000,2901,2141,1919,1919,4094,0,0,0,0,0,0,25.63,25.83,23.61,10.29,46.96
$GC,556,1.80,487.5,2900,2141,1918,4094,53.2,12.2,67,565,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1710,1917,1917,4094,0,0,0,0,0,0,25.68,25.29,25.70,10.15,45.15
$GC,709,1.80,487.5,2900,1710,1913,4094,33.2,12.7,89,719,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2121,1913,1913,4094,0,0,0,0,0,0,25.87,25.84,25.88,10.13,47.04
$GC,759,1.80,487.5,2900,2121,1911,4094,26.9,12.8,95,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1911,1911,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.15,46.77
$GC,808,1.92,565.8,2900,2121,1911,4094,22.1,9.6,101,818,0.32,0.00,5.78,0.614,10246,0.037,0.000,2942,2122,1824,1824,4095,0,0,0,0,0,0,26.06,25.30,24.25,10.19,48.97
$GC,860,1.92,565.8,2941,2121,1823,4095,16.6,11.6,107,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2121,1822,1822,4094,0,0,0,0,0,0,26.30,26.31,26.31,10.19,50.39
$GC,910,1.92,565.8,2941,2121,1821,4094,10.4,12.1,113,919,0.00,1.08,0.00,0.000,516,0.000,0.044,2942,1712,1821,1821,4094,0,0,0,0,0,0,26.36,25.90,26.36,10.20,51.10
$STATE,972,end climb,FINISH_DEPTH_REACHED
$STATE,973,begin subsurface finish
$FINISH1,1.5,1.024270,93
$GC,988,0.14,92.7,2941,2148,1818,4094,1.5,12.6,122,1007,5.72,0.00,-5.10,0.000,20486,0.023,0.000,2381,2156,2380,2380,4094,0,0,0,0,0,0,26.14,25.44,26.19,10.21,52.12
$FINISH2,0.1
$STATE,1008,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1008,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,103831
$TT8_MAMPS,0.025466,0.259154
$HUMID,52.71
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.61,73.112
$10V_AH,9.99,65.993
$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,35.575,6.950,62.500,0.000,0.000,64.141,35.692,273.857,0.000,0.000,18.094,354.446,44.859,100.810,853.660,384.849,0.000,303.281,0.000,306.343,0.000,0.542,0.000
$DEVICE_MAMPS,87.210,1223.235,1251.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.796,336.940,266.589,395.542,517.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,10757,124
$CAP_FILE_SIZE,25466,0
$CFSIZE,1024409600,896630784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,115625,5947.949,-17132.992,6,0.7,16,8.1,0.0,272.5,11,5.0