version: 66.13
glider: 401
mission: 22
dive: 2510
start: 9 8 117 15 51 50
data:
$ID,401
$MISSION,22
$DIVE,2510
$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,18
$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
$GPS1,080917,153104,5947.3682,-17132.5527,7,0.8,15,8.1,0.0,262.8,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.4
$GPS2,080917,153104,5947.3682,-17132.5527,7,0.8,15,8.1,0.0,262.8,11,5.0
$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,96.9,5359,-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,11,-1.80,-487.5,2380,1953,2383,4092,0.0,0.0,0,22,6.35,0.00,-1.15,0.000,20482,0.022,0.000,1760,1953,2508,2508,4094,0,0,0,0,0,0,26.16,28.83,26.21,10.34,53.30
$GC,28,-1.80,-487.5,1760,1952,2507,4094,0.0,0.0,1,38,0.00,1.25,-5.18,0.000,16900,0.000,1.233,1760,1513,3056,3056,4094,0,0,0,0,0,0,26.44,23.98,26.44,10.37,53.74
$GC,168,-1.80,-487.5,1759,1513,3059,4094,16.5,-18.1,21,177,0.00,1.02,0.00,0.000,1030,0.000,0.028,1760,1946,3060,3060,4094,0,0,0,0,0,0,26.21,26.18,26.22,10.49,53.74
$GC,217,-1.80,-487.5,1759,1945,3061,4094,24.8,-16.8,27,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1945,3061,3061,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.47,53.38
$GC,266,-1.80,-487.5,1759,1946,3062,4095,31.3,-13.0,33,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1946,3062,3062,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.43,52.67
$GC,314,-1.80,-487.5,1759,1946,3064,4094,37.8,-13.8,39,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1946,3064,3064,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.40,51.02
$GC,363,-1.80,-487.5,1759,1946,3065,4094,44.6,-14.1,45,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1947,3066,3066,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.39,50.07
$GC,411,-1.80,-487.5,1759,1946,3066,4094,51.5,-14.3,51,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1947,3066,3066,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.39,49.33
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,448,-0.45,0.0,1759,2139,3067,4094,55.6,-13.8,54,484,4.60,0.00,28.58,1.256,10244,0.054,0.000,2186,2139,2484,2484,4095,0,0,0,0,0,0,26.14,25.24,24.01,10.38,49.25
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,492,1.80,487.5,2185,2139,2484,4095,59.4,0.0,58,536,7.62,0.00,28.20,1.235,11270,0.029,0.000,2902,2139,1916,1916,4094,0,0,0,0,0,0,25.68,25.89,23.63,10.25,47.87
$GC,578,1.80,487.5,2901,2138,1915,4094,52.8,13.4,68,587,0.00,1.17,0.00,0.000,516,0.000,0.045,2902,1701,1915,1915,4094,0,0,0,0,0,0,25.71,25.32,25.72,10.13,47.67
$GC,718,1.80,487.5,2901,1700,1911,4094,34.0,12.9,88,728,0.00,1.08,0.00,0.000,1030,0.000,0.028,2902,2136,1911,1911,4095,0,0,0,0,0,0,25.85,25.81,25.86,10.10,48.11
$GC,768,1.80,487.5,2901,2136,1910,4095,27.8,12.7,94,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1909,1909,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.10,47.63
$GC,817,1.80,487.5,2901,2136,1908,4094,21.6,12.3,100,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1908,1908,4094,0,0,0,0,0,0,26.30,26.31,26.31,10.13,48.18
$GC,865,1.85,519.7,2900,2136,1908,4094,16.6,10.3,106,875,0.00,1.10,3.25,0.350,8708,0.000,0.044,2901,1702,1877,1877,4094,0,0,0,0,0,0,26.35,24.79,24.10,10.17,50.86
$STATE,1000,end climb,FINISH_DEPTH_REACHED
$STATE,1006,begin subsurface finish
$FINISH1,1.5,1.024282,92
$GC,1021,0.14,91.8,2902,2137,1874,4094,1.5,10.6,126,1040,5.28,1.23,-4.57,0.000,20740,0.021,1.223,2383,2569,2376,2376,4094,0,0,0,0,0,0,26.20,23.94,26.24,10.20,53.18
$FINISH2,0.1
$STATE,1041,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1041,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,141410
$TT8_MAMPS,0.026215,0.25466
$HUMID,53.85
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.63,73.391
$10V_AH,10.00,66.216
$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,23.850,10.025,60.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,355.395,0.409,100.759,531.051,118.623,0.000,298.913,0.000,313.195,0.000,1.119,0.000
$DEVICE_MAMPS,54.315,1233.180,1256.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.639,347.843,275.166,408.147,529.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330656
$DATA_FILE_SIZE,10758,128
$CAP_FILE_SIZE,21905,0
$CFSIZE,1024409600,896139264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,153104,5947.368,-17132.553,7,0.8,15,8.1,0.0,262.8,11,5.0