version: 66.13
glider: 401
mission: 22
dive: 2527
start: 9 8 117 23 0 38
data:
$ID,401
$MISSION,22
$DIVE,2527
$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,49
$R_STBD_OVSHOOT,67
$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
$GPS1,080917,224836,5946.3125,-17125.8457,5,0.7,14,8.2,0.7,180.8,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-44.4
$GPS2,080917,225959,5946.2432,-17125.9102,7,0.7,24,8.2,0.0,151.1,11,5.0
$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,116.1,34642,-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,-487.5,236,1999,1901,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.096,0.000,708,1994,1901,1901,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,52.40
$GC,26,-1.80,-487.5,708,1995,1901,4094,0.9,0.0,1,57,11.32,0.98,-10.75,0.000,19204,0.046,1.217,1755,2336,3056,3056,4094,0,0,0,0,0,0,25.96,23.71,26.03,10.27,52.20
$GC,75,-1.80,-487.5,1754,2336,3057,4094,1.4,-5.0,8,81,0.00,0.93,0.00,0.000,1030,0.000,0.031,1755,1968,3056,3056,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.51,52.40
$GC,117,-1.80,-487.5,1754,1968,3058,4094,7.5,-15.6,14,124,0.00,1.12,0.00,0.000,516,0.000,0.048,1755,1524,3058,3058,4095,0,0,0,0,0,0,26.29,25.82,26.31,10.52,52.00
$GC,361,-1.80,-487.5,1754,1524,3065,4095,46.3,-14.6,53,368,0.00,0.93,0.00,0.000,1030,0.000,0.026,1755,1925,3066,3066,4095,0,0,0,0,0,0,26.23,26.21,26.25,10.42,48.89
$GC,403,-1.80,-487.5,1754,1924,3066,4095,52.6,-15.2,59,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1925,3067,3067,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,48.14
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,428,-0.45,0.0,1755,2133,3067,4094,55.1,-15.1,61,464,4.68,0.00,28.60,1.272,10244,0.054,0.000,2186,2132,2485,2485,4094,0,0,0,0,0,0,26.06,25.15,23.91,10.40,48.18
$STATE,465,end apogee,CONTROL_FINISHED_OK
$STATE,465,begin climb
$GC,472,1.80,487.5,2186,2133,2484,4094,59.2,0.0,67,514,7.50,1.10,28.23,1.245,10756,0.029,0.042,2903,1710,1916,1916,4094,0,0,0,0,0,0,25.51,25.46,23.56,10.28,47.32
$GC,607,1.80,487.5,2902,1709,1913,4094,45.9,13.5,88,613,0.00,1.05,0.00,0.000,1030,0.000,0.028,2902,2133,1913,1913,4094,0,0,0,0,0,0,25.61,25.58,25.63,10.14,46.14
$GC,649,1.80,487.5,2902,2133,1912,4094,40.2,13.5,94,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1911,1911,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.13,46.73
$GC,691,1.80,487.5,2902,2133,1911,4094,34.5,13.5,100,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1910,1910,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,46.81
$GC,732,1.80,487.5,2902,2133,1909,4094,29.0,13.1,106,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1909,1909,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.12,46.61
$GC,774,1.80,487.5,2902,2133,1908,4094,23.9,12.2,112,780,0.00,1.10,0.00,0.000,516,0.000,0.044,2903,1716,1908,1908,4094,0,0,0,0,0,0,26.26,25.82,26.27,10.15,47.48
$GC,876,1.80,487.5,2902,1715,1905,4094,12.6,11.3,128,883,0.00,1.00,0.00,0.000,1030,0.000,0.030,2903,2129,1905,1905,4094,0,0,0,0,0,0,26.07,26.03,26.10,10.20,51.65
$GC,918,1.80,487.5,2902,2128,1904,4094,7.7,11.8,134,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1903,1903,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.20,52.24
$GC,960,1.80,487.5,2902,2128,1902,4094,3.0,11.0,140,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1902,1902,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.21,52.55
$STATE,970,end climb,FINISH_DEPTH_REACHED
$STATE,971,begin subsurface finish
$FINISH1,1.1,1.024311,90
$GC,985,0.13,89.8,2903,2131,1902,4094,1.1,10.8,142,998,5.32,0.00,-4.32,0.000,20486,0.024,0.000,2383,2131,2384,2384,4094,0,0,0,0,0,0,26.17,24.41,26.22,10.22,52.79
$FINISH2,0.1
$STATE,999,end subsurface finish,CONTROL_FINISHED_OK
$STATE,999,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,214418
$TT8_MAMPS,0.025466,0.160286
$HUMID,53.07
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.56,73.915
$10V_AH,10.14,66.607
$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,34.450,8.700,56.825,0.000,0.000,23.568,33.844,301.534,0.000,0.000,25.508,382.436,222.819,134.397,514.733,428.006,0.000,296.004,0.000,220.591,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1217.115,1272.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,10878,144
$CAP_FILE_SIZE,28090,0
$CFSIZE,1024409600,895303680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,225959,5946.243,-17125.910,7,0.7,24,8.2,0.0,151.1,11,5.0