version: 66.13
glider: 401
mission: 22
dive: 2503
start: 9 8 117 13 8 46
data:
$ID,401
$MISSION,22
$DIVE,2503
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,080917,125449,5947.5728,-17132.7734,5,0.8,45,8.1,0.4,264.3,10,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-38.5
$GPS2,080917,130802,5947.5020,-17132.9434,7,0.8,16,8.1,0.0,331.9,10,4.4
$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,98.3,5777,-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,-487.5,240,1964,1825,4091,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.086,0.000,720,1965,1825,1825,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,51.33
$GC,26,-1.80,-487.5,719,1964,1825,4094,0.7,0.0,1,57,11.27,1.25,-11.40,0.000,18948,0.049,1.221,1755,1526,3054,3054,4095,0,0,0,0,0,0,25.89,23.74,25.98,10.26,51.49
$GC,282,-1.80,-487.5,1755,1525,3061,4095,29.7,-13.7,42,289,0.00,0.98,0.00,0.000,1030,0.000,0.026,1755,1945,3060,3060,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.48,50.23
$GC,324,-1.80,-487.5,1754,1945,3061,4094,35.5,-13.5,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1945,3061,3061,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.44,50.00
$GC,366,-1.80,-487.5,1754,1945,3062,4094,41.4,-14.0,54,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1945,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,49.05
$GC,407,-1.80,-487.5,1754,1946,3064,4095,47.4,-14.3,60,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1946,3063,3063,4095,0,0,0,0,0,0,26.54,26.56,26.55,10.42,47.95
$GC,449,-1.80,-487.5,1754,1946,3064,4095,53.5,-15.3,66,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1945,3065,3065,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.41,47.20
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,473,-0.45,0.0,1754,2134,3065,4094,56.1,-15.0,68,509,4.65,0.00,28.33,1.258,10244,0.054,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.08,25.18,23.94,10.41,46.85
$STATE,510,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,517,1.80,487.5,2185,2134,2484,4094,60.1,0.0,74,558,7.60,0.00,27.73,1.241,11270,0.029,0.000,2900,2134,1915,1915,4094,0,0,0,0,0,0,25.64,25.85,23.59,10.28,46.61
$GC,594,1.80,487.5,2899,2134,1914,4094,54.0,12.4,86,601,0.00,1.12,0.00,0.000,516,0.000,0.044,2900,1716,1914,1914,4094,0,0,0,0,0,0,25.65,25.27,25.66,10.15,45.47
$GC,756,1.80,487.5,2900,1716,1909,4094,33.1,12.9,112,763,0.00,1.00,0.00,0.000,1030,0.000,0.028,2900,2126,1909,1909,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.12,46.81
$GC,799,1.80,487.5,2900,2126,1908,4094,27.7,13.2,118,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1907,1907,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.12,47.04
$GC,840,1.80,487.5,2900,2126,1907,4095,22.7,11.3,124,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1907,1907,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.15,48.03
$GC,882,1.86,528.2,2900,2125,1906,4094,18.6,10.2,130,890,0.12,1.10,3.67,0.422,10756,0.063,0.043,2924,1708,1867,1867,4094,0,0,0,0,0,0,26.13,25.34,24.12,10.18,49.76
$GC,1003,1.86,528.2,2923,1707,1864,4094,5.5,12.3,148,1010,0.00,1.02,0.00,0.000,1030,0.000,0.028,2924,2133,1864,1864,4094,0,0,0,0,0,0,26.12,26.09,26.15,10.21,53.38
$STATE,1027,end climb,FINISH_DEPTH_REACHED
$STATE,1027,begin subsurface finish
$FINISH1,1.5,1.024278,92
$GC,1042,0.14,92.1,2924,2134,1863,4094,1.5,11.4,152,1055,5.53,0.00,-4.65,0.000,20486,0.022,0.000,2385,2141,2383,2383,4095,0,0,0,0,0,0,26.14,24.41,26.20,10.21,53.11
$FINISH2,0.1
$STATE,1056,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1056,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,125958
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.78
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.59,73.198
$10V_AH,10.14,66.052
$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,34.800,6.925,59.725,0.000,0.000,66.073,50.332,314.537,0.000,0.000,17.576,404.373,297.547,131.195,597.205,424.604,0.000,296.079,0.000,234.415,0.000,0.543,0.000
$DEVICE_MAMPS,86.445,1220.940,1258.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329276
$DATA_FILE_SIZE,10806,154
$CAP_FILE_SIZE,28415,0
$CFSIZE,1024409600,896483328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,130802,5947.502,-17132.943,7,0.8,16,8.1,0.0,331.9,10,4.4