version: 66.13
glider: 401
mission: 22
dive: 2515
start: 9 8 117 17 56 19
data:
$ID,401
$MISSION,22
$DIVE,2515
$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,61
$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
$GPS1,080917,174411,5947.5713,-17130.6738,5,0.9,21,8.1,0.4,131.7,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-40.7
$GPS2,080917,175539,5947.6064,-17130.6484,6,0.9,32,8.1,0.3,349.8,10,4.8
$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,115.6,39736,-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,-487.5,238,1950,1886,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.091,0.000,713,1950,1886,1886,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.27,52.08
$GC,26,-1.80,-487.5,713,1949,1886,4094,0.7,0.0,1,56,11.15,1.20,-10.95,0.000,18948,0.044,1.222,1756,1521,3056,3056,4094,0,0,0,0,0,0,25.96,23.76,26.03,10.27,52.20
$GC,233,-1.80,-487.5,1755,1521,3062,4094,27.5,-14.9,34,240,0.00,0.95,0.00,0.000,1030,0.000,0.025,1755,1932,3062,3062,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.49,51.10
$GC,276,-1.80,-487.5,1755,1932,3063,4094,33.3,-14.1,40,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1932,3063,3063,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.45,50.66
$GC,317,-1.80,-487.5,1755,1933,3064,4095,39.2,-14.1,46,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1933,3064,3064,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.43,49.52
$GC,359,-1.80,-487.5,1755,1933,3065,4095,45.2,-14.7,52,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1933,3065,3065,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.42,48.46
$GC,400,-1.80,-487.5,1755,1933,3066,4095,51.2,-14.3,58,407,0.00,1.12,0.00,0.000,260,0.000,0.044,1755,2364,3066,3066,4094,0,0,0,0,0,0,26.54,26.03,26.55,10.41,48.22
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,438,-0.45,0.0,1755,2105,3067,4095,55.6,-14.6,62,475,4.65,0.00,28.60,1.263,10244,0.054,0.000,2185,2104,2484,2484,4094,0,0,0,0,0,0,26.06,25.16,23.93,10.40,48.26
$STATE,476,end apogee,CONTROL_FINISHED_OK
$STATE,476,begin climb
$GC,482,1.80,487.5,2184,2103,2484,4094,59.6,0.0,68,524,7.60,0.00,28.25,1.238,11270,0.030,0.000,2899,2104,1915,1915,4094,0,0,0,0,0,0,25.62,25.82,23.58,10.28,47.16
$GC,559,1.80,487.5,2898,2103,1915,4094,53.5,12.3,80,566,0.00,0.95,0.00,0.000,516,0.000,0.045,2899,1738,1914,1914,4094,0,0,0,0,0,0,25.63,25.27,25.64,10.15,46.22
$GC,661,1.80,487.5,2899,1737,1911,4094,39.5,14.0,96,668,0.00,0.95,0.00,0.000,1030,0.000,0.029,2899,2125,1911,1911,4095,0,0,0,0,0,0,25.75,25.71,25.77,10.13,46.41
$GC,704,1.80,487.5,2899,2125,1910,4095,33.7,13.9,102,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2125,1910,1910,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.12,46.81
$GC,745,1.80,487.5,2899,2125,1908,4095,28.2,13.1,108,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2125,1908,1908,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,46.96
$GC,787,1.80,487.5,2899,2124,1907,4094,22.9,12.9,114,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2125,1907,1907,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.16,47.44
$GC,828,1.80,487.5,2899,2125,1906,4095,18.1,11.1,120,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2125,1906,1906,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.19,49.84
$GC,869,1.80,487.5,2898,2124,1905,4094,13.4,11.6,126,876,0.00,1.02,0.00,0.000,516,0.000,0.046,2899,1736,1905,1905,4094,0,0,0,0,0,0,26.36,25.90,26.37,10.20,50.94
$STATE,966,end climb,FINISH_DEPTH_REACHED
$STATE,966,begin subsurface finish
$FINISH1,1.9,1.024285,92
$GC,982,0.14,91.7,2899,2148,1901,4094,1.9,10.0,142,995,5.25,0.00,-4.20,0.000,20486,0.018,0.000,2380,2148,2383,2383,4094,0,0,0,0,0,0,26.18,24.41,26.22,10.22,52.63
$FINISH2,0.3
$STATE,996,end subsurface finish,CONTROL_FINISHED_OK
$STATE,996,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,163549
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.70
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.58,73.546
$10V_AH,10.14,66.324
$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,34.250,7.925,56.850,0.000,0.000,23.824,19.725,306.425,0.000,0.000,33.952,381.706,226.433,134.781,521.479,420.756,0.000,296.072,0.000,220.381,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1222.470,1263.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10831,144
$CAP_FILE_SIZE,28022,0
$CFSIZE,1024409600,895893504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,175539,5947.606,-17130.648,6,0.9,32,8.1,0.3,349.8,10,4.8