version: 66.13
glider: 401
mission: 22
dive: 2512
start: 9 8 117 16 45 25
data:
$ID,401
$MISSION,22
$DIVE,2512
$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,36
$R_STBD_OVSHOOT,54
$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
$GPS1,080917,163100,5947.5439,-17131.7363,4,0.8,15,8.1,0.3,50.1,11,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-39.9
$GPS2,080917,164445,5947.5879,-17131.7969,7,0.8,17,8.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W24S
$TGT_LATLONG,5935.700,-17055.381
$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,114.7,40617,-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,-487.5,239,1927,1901,4092,0.0,0.0,0,22,8.45,0.00,0.00,0.000,2049,0.093,0.000,949,1927,1901,1901,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.28,51.96
$GC,29,-1.80,-487.5,949,1926,1901,4094,0.9,0.0,1,56,8.68,1.12,-10.77,0.000,18948,0.042,1.230,1756,1536,3050,3050,4095,0,0,0,0,0,0,25.91,23.71,25.95,10.28,51.77
$GC,253,-1.80,-487.5,1755,1536,3056,4095,30.2,-13.9,32,262,0.00,0.93,0.00,0.000,1030,0.000,0.025,1756,1936,3056,3056,4094,0,0,0,0,0,0,26.15,26.14,26.15,10.47,50.47
$GC,304,-1.80,-487.5,1755,1936,3057,4094,37.3,-13.3,38,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1936,3057,3057,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.43,49.09
$GC,354,-1.80,-487.5,1756,1936,3058,4094,44.4,-14.3,44,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1936,3059,3059,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.42,47.91
$GC,404,-1.80,-487.5,1755,1936,3059,4094,51.7,-14.5,50,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1937,3060,3060,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.40,47.20
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,435,-0.45,0.0,1756,2136,3061,4095,55.1,-14.5,52,471,4.65,0.00,28.40,1.264,10244,0.055,0.000,2185,2137,2484,2484,4094,0,0,0,0,0,0,26.05,25.16,23.92,10.40,46.88
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,478,1.80,487.5,2186,2136,2484,4094,59.3,0.0,56,523,7.62,0.00,28.40,1.239,11270,0.030,0.000,2900,2136,1915,1915,4094,0,0,0,0,0,0,25.62,25.82,23.58,10.28,46.29
$GC,565,1.80,487.5,2900,2136,1914,4094,52.7,12.5,66,574,0.00,1.12,0.00,0.000,516,0.000,0.044,2900,1719,1913,1913,4094,0,0,0,0,0,0,25.67,25.29,25.69,10.15,45.47
$GC,718,1.80,487.5,2900,1719,1909,4094,32.3,13.2,88,728,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2130,1909,1909,4094,0,0,0,0,0,0,25.89,25.84,25.89,10.12,46.49
$GC,768,1.80,487.5,2900,2130,1907,4094,25.7,13.2,94,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1907,1907,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.11,46.41
$GC,817,1.80,487.5,2900,2130,1906,4094,19.9,11.5,100,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1906,1906,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.17,47.71
$GC,866,1.80,487.5,2900,2130,1905,4095,14.5,11.3,106,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1904,1904,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.19,50.03
$GC,914,1.80,487.5,2900,2130,1903,4095,9.2,11.5,112,931,0.00,1.05,0.00,0.000,516,0.000,0.046,2900,1722,1903,1903,4094,0,0,0,0,0,0,26.41,25.93,26.41,10.20,51.37
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.5,1.024284,92
$GC,995,0.14,91.7,2900,2136,1901,4094,1.5,10.4,120,1013,5.28,0.00,-4.32,0.000,20486,0.022,0.000,2385,2143,2379,2379,4094,0,0,0,0,0,0,26.16,25.48,26.22,10.22,52.20
$FINISH2,0.1
$STATE,1014,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,152457
$TT8_MAMPS,0.025466,0.238182
$HUMID,52.16
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.58,73.462
$10V_AH,9.97,66.265
$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,34.675,6.900,56.800,0.000,0.000,22.123,22.336,467.538,0.000,0.000,18.397,353.666,0.408,105.135,863.965,518.664,0.000,317.097,0.000,302.479,0.000,0.544,0.000
$DEVICE_MAMPS,92.565,1230.120,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.324,331.487,262.281,388.715,508.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330636
$DATA_FILE_SIZE,10827,122
$CAP_FILE_SIZE,26389,0
$CFSIZE,1024409600,896040960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,915.28,0x236164,1,24
$GPS,080917,164445,5947.588,-17131.797,7,0.8,17,8.1,0.0,0.0,11,4.9