version: 66.13
glider: 401
mission: 22
dive: 2525
start: 9 8 117 22 9 58
data:
$ID,401
$MISSION,22
$DIVE,2525
$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,20
$R_STBD_OVSHOOT,35
$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
$GPS1,080917,214811,5946.8394,-17126.3594,6,0.8,15,8.2,0.2,209.5,10,4.7
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.9
$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,5,begin dive
$GC,12,-1.80,-487.5,2381,1982,2386,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.023,0.000,1833,1982,2385,2385,4094,0,0,0,0,0,0,26.47,28.83,28.83,10.34,53.85
$GC,26,-1.80,-487.5,1833,1982,2385,4094,0.1,0.0,1,39,0.50,1.30,-6.28,0.000,20996,0.033,1.234,1775,1515,3056,3056,4095,0,0,0,0,0,0,26.19,23.97,26.21,10.35,53.11
$GC,229,-1.80,-487.5,1775,1514,3061,4095,28.3,-14.8,33,235,0.00,1.02,0.00,0.000,1030,0.000,0.027,1776,1950,3062,3062,4095,0,0,0,0,0,0,26.24,26.21,26.26,10.47,53.38
$GC,271,-1.80,-487.5,1775,1950,3063,4095,33.8,-12.8,39,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3063,3063,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,52.63
$GC,312,-1.80,-487.5,1775,1950,3064,4095,39.3,-13.0,45,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3064,3064,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,51.65
$GC,354,-1.80,-487.5,1775,1950,3064,4094,44.8,-13.2,51,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3065,3065,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.39,50.78
$GC,395,-1.80,-487.5,1775,1950,3066,4095,50.3,-13.5,57,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1950,3066,3066,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.39,49.92
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,439,-0.45,0.0,1775,2139,3067,4095,55.1,-13.5,62,475,4.40,0.00,28.45,1.251,10244,0.053,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.14,25.23,24.00,10.38,49.44
$STATE,476,end apogee,CONTROL_FINISHED_OK
$STATE,476,begin climb
$GC,482,1.80,487.5,2185,2139,2484,4094,59.0,0.0,68,524,7.50,1.12,28.05,1.230,10756,0.030,0.043,2903,1706,1915,1915,4094,0,0,0,0,0,0,25.58,25.51,23.63,10.26,49.05
$GC,630,1.80,487.5,2903,1706,1913,4094,44.1,12.9,91,636,0.00,1.08,0.00,0.000,1030,0.000,0.029,2903,2138,1912,1912,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.12,48.54
$GC,672,1.80,487.5,2903,2137,1911,4094,38.5,13.6,97,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1911,1911,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.11,48.34
$GC,714,1.80,487.5,2902,2138,1910,4094,33.0,13.0,103,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,48.14
$GC,756,1.80,487.5,2903,2138,1908,4094,27.6,12.8,109,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1909,1909,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.10,48.30
$GC,797,1.80,487.5,2903,2138,1908,4094,22.6,11.8,115,804,0.00,1.15,0.00,0.000,516,0.000,0.046,2903,1704,1907,1907,4094,0,0,0,0,0,0,26.29,25.84,26.30,10.14,48.58
$GC,905,1.80,487.5,2903,1704,1905,4094,10.9,11.0,132,912,0.00,1.05,0.00,0.000,1030,0.000,0.029,2903,2135,1905,1905,4095,0,0,0,0,0,0,26.09,26.06,26.12,10.19,52.83
$GC,948,1.80,487.5,2903,2135,1903,4095,6.1,11.5,138,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1903,1903,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.20,53.07
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,1.3,1.024323,89
$GC,998,0.13,89.0,2903,2134,1902,4094,1.3,11.4,144,1011,5.35,0.00,-4.32,0.000,20486,0.024,0.000,2381,2139,2386,2386,4094,0,0,0,0,0,0,26.17,24.43,26.23,10.21,53.85
$FINISH2,0.2
$STATE,1012,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1012,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,213923
$TT8_MAMPS,0.025466,0.107107
$HUMID,54.88
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.63,73.852
$10V_AH,10.31,66.560
$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,23.325,7.600,56.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.593,236.104,121.798,211.506,124.406,0.000,275.786,0.000,221.560,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1233.945,1250.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330604
$DATA_FILE_SIZE,10807,146
$CAP_FILE_SIZE,22872,0
$CFSIZE,1024409600,895401984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,214811,5946.839,-17126.359,6,0.8,15,8.2,0.2,209.5,10,4.7