version: 66.13
glider: 401
mission: 22
dive: 2519
start: 9 8 117 19 26 14
data:
$ID,401
$MISSION,22
$DIVE,2519
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,080917,190532,5947.5786,-17129.2051,6,0.8,19,8.1,0.4,286.6,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.1
$GPS2,080917,190532,5947.5786,-17129.2051,6,0.8,19,8.1,0.4,286.6,10,4.9
$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,116.7,38588,-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,-487.5,2386,1970,2380,4092,0.0,0.0,0,27,6.28,0.00,-6.38,0.000,20483,0.023,0.000,1763,1976,3058,3058,4095,0,0,0,0,0,0,26.19,28.83,26.21,10.34,52.67
$GC,34,-1.80,-487.5,1762,1975,3058,4095,0.1,0.0,1,40,0.00,1.20,0.00,0.000,516,0.000,0.060,1763,1521,3058,3058,4095,0,0,0,0,0,0,26.46,25.93,26.47,10.49,53.66
$GC,225,-1.80,-487.5,1762,1521,3063,4095,27.4,-13.5,31,232,0.00,1.02,0.00,0.000,1030,0.000,0.027,1762,1960,3064,3064,4095,0,0,0,0,0,0,26.29,26.27,26.31,10.46,52.79
$GC,267,-1.80,-487.5,1762,1959,3064,4095,33.7,-13.1,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1960,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.43,51.96
$GC,309,-1.80,-487.5,1762,1959,3065,4095,39.2,-13.7,43,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1960,3066,3066,4094,0,0,0,0,0,0,26.62,26.63,26.62,10.41,51.69
$GC,350,-1.80,-487.5,1762,1959,3066,4094,44.9,-13.6,49,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1960,3067,3067,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.40,50.03
$GC,392,-1.80,-487.5,1762,1959,3068,4095,50.6,-14.1,55,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1960,3068,3068,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.39,49.56
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,435,-0.45,0.0,1763,2139,3069,4094,55.6,-13.6,60,471,4.55,0.00,28.55,1.275,10244,0.053,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.17,25.23,24.01,10.38,48.93
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,478,1.80,487.5,2186,2139,2484,4094,59.4,0.0,66,521,7.47,1.12,28.10,1.245,10756,0.029,0.042,2902,1706,1916,1916,4094,0,0,0,0,0,0,25.63,25.53,23.63,10.26,48.58
$GC,620,1.80,487.5,2902,1705,1913,4094,45.1,13.4,88,627,0.00,1.08,0.00,0.000,1030,0.000,0.028,2902,2137,1913,1913,4094,0,0,0,0,0,0,25.65,25.60,25.67,10.12,48.03
$GC,663,1.80,487.5,2902,2137,1912,4094,39.6,12.9,94,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1911,1911,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,47.36
$GC,705,1.80,487.5,2902,2137,1911,4094,34.1,13.1,100,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1910,1910,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,47.51
$GC,746,1.80,487.5,2902,2138,1909,4094,28.5,13.0,106,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1909,1909,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.10,48.22
$GC,788,1.80,487.5,2902,2138,1908,4094,23.1,12.7,112,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.13,48.50
$GC,829,1.80,487.5,2901,2137,1907,4094,18.4,11.4,118,836,0.00,1.12,0.00,0.000,516,0.000,0.046,2902,1712,1907,1907,4094,0,0,0,0,0,0,26.32,25.86,26.34,10.17,50.07
$STATE,973,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.9,1.024292,91
$GC,994,0.14,91.1,2902,2146,1902,4094,1.9,12.1,142,1010,5.30,0.00,-4.25,0.000,20486,0.023,0.000,2380,2150,2380,2380,4094,0,0,0,0,0,0,26.20,25.48,26.25,10.21,53.38
$FINISH2,0.1
$STATE,1011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,174909
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.85
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.63,73.649
$10V_AH,10.30,66.412
$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,23.600,7.450,56.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,378.353,239.920,113.401,206.994,135.562,0.000,273.127,0.000,217.285,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,60.435,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,10911,143
$CAP_FILE_SIZE,22706,0
$CFSIZE,1024409600,895696896
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13.73,0x236164,0,24
$INTR,1,987.56,0x2138dc,5,24
$GPS,080917,190532,5947.579,-17129.205,6,0.8,19,8.1,0.4,286.6,10,4.9