version: 66.13
glider: 401
mission: 22
dive: 2524
start: 9 8 117 21 48 55
data:
$ID,401
$MISSION,22
$DIVE,2524
$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,53
$R_STBD_OVSHOOT,64
$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
$GPS1,080917,212629,5946.9292,-17126.3652,4,0.7,25,8.2,0.5,6.9,11,5.0
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-41.5
$GPS2,080917,214811,5946.8394,-17126.3594,6,0.8,15,8.2,0.2,209.5,10,4.7
$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,117.2,35618,-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,6,begin dive
$GC,12,-1.80,-487.5,238,1993,1900,4092,0.0,0.0,0,23,8.45,0.00,0.00,0.000,2049,0.099,0.000,940,1993,1900,1900,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.29,50.86
$GC,29,-1.80,-487.5,940,1993,1900,4094,0.9,0.0,1,56,8.70,1.25,-10.62,0.000,18948,0.040,1.219,1754,1548,3056,3056,4094,0,0,0,0,0,0,25.90,23.71,25.96,10.28,51.10
$GC,286,-1.80,-487.5,1753,1547,3062,4094,34.0,-14.0,37,296,0.00,0.85,0.00,0.000,1030,0.000,0.026,1753,1923,3063,3063,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.45,49.37
$GC,337,-1.80,-487.5,1753,1923,3064,4095,41.3,-14.4,43,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1923,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.43,47.75
$GC,387,-1.80,-487.5,1753,1925,3065,4095,48.0,-12.5,49,396,0.00,1.12,0.00,0.000,260,0.000,0.037,1754,2364,3065,3065,4095,0,0,0,0,0,0,26.54,26.07,26.55,10.42,47.32
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,464,-0.45,0.0,1753,2135,3066,4095,55.6,-11.0,58,500,4.65,0.00,28.73,1.268,10244,0.050,0.000,2187,2134,2484,2484,4094,0,0,0,0,0,0,26.10,25.16,23.91,10.40,46.73
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,501,begin climb
$GC,507,1.80,487.5,2187,2134,2484,4094,59.7,0.0,62,553,7.47,1.00,28.17,1.252,10756,0.028,0.042,2902,1738,1921,1921,4094,0,0,0,0,0,0,25.53,25.48,23.56,10.28,45.98
$GC,814,1.90,550.2,2902,1737,1915,4094,33.1,9.8,105,825,0.22,0.95,5.25,0.662,11270,0.034,0.027,2932,2135,1841,1841,4094,0,0,0,0,0,0,25.97,25.97,24.11,10.12,47.00
$GC,867,1.95,584.0,2932,2135,1841,4094,27.9,10.3,111,876,0.00,1.15,3.62,0.461,8452,0.000,0.051,2932,2563,1802,1802,4094,0,0,0,0,0,0,26.28,25.37,24.13,10.10,46.88
$GC,904,2.00,615.5,2932,2563,1802,4094,23.9,10.3,115,914,0.22,1.25,3.45,0.414,11270,0.033,0.028,2964,2064,1766,1766,4094,0,0,0,0,0,0,25.99,25.98,24.17,10.10,47.16
$GC,957,2.15,716.5,2963,2063,1764,4094,19.2,9.3,121,968,0.40,0.82,7.10,0.649,10756,0.034,0.050,3008,1737,1648,1648,4094,0,0,0,0,0,0,26.04,25.46,24.34,10.14,48.26
$STATE,1094,end climb,FINISH_DEPTH_REACHED
$STATE,1094,begin subsurface finish
$FINISH1,1.5,1.024326,89
$GC,1110,0.13,88.8,3008,2142,1643,4094,1.5,14.1,140,1128,6.45,0.00,-6.55,0.000,20486,0.023,0.000,2381,2151,2385,2385,4094,0,0,0,0,0,0,26.12,24.38,26.17,10.16,52.71
$FINISH2,0.1
$STATE,1129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,213923
$TT8_MAMPS,0.025466,0.253911
$HUMID,53.78
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,23.56,73.832
$10V_AH,9.98,66.550
$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,36.575,9.925,76.325,0.000,0.000,175.026,159.492,351.720,0.000,0.000,17.027,406.617,269.824,94.787,1230.086,436.892,0.000,296.635,0.000,347.033,0.000,0.542,0.000
$DEVICE_MAMPS,99.450,1218.645,1268.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.993,385.847,305.286,452.914,591.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329236
$DATA_FILE_SIZE,14292,142
$CAP_FILE_SIZE,31427,0
$CFSIZE,1024409600,895451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,214811,5946.839,-17126.359,6,0.8,15,8.2,0.2,209.5,10,4.7