version: 66.13
glider: 401
mission: 22
dive: 2530
start: 9 9 117 0 12 31
data:
$ID,401
$MISSION,22
$DIVE,2530
$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,29
$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
$GPS1,090917,000012,5945.7129,-17125.8457,4,0.7,23,8.2,0.4,333.4,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-32.8
$GPS2,090917,001152,5945.6602,-17125.9590,6,0.9,51,8.2,0.3,114.7,8,3.4
$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,114.6,34084,-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,-487.5,238,1974,1856,4092,0.0,0.0,0,22,8.45,0.00,0.00,0.000,2049,0.089,0.000,957,1973,1856,1856,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.26,52.48
$GC,29,-1.80,-487.5,956,1973,1856,4094,0.6,0.0,1,57,8.55,1.17,-11.25,0.000,19204,0.042,1.215,1753,2374,3058,3058,4095,0,0,0,0,0,0,25.94,23.76,26.02,10.26,52.59
$GC,311,-1.80,-487.5,1752,2374,3065,4095,35.7,-13.6,41,320,0.00,1.08,0.00,0.000,1030,0.000,0.031,1753,1943,3065,3065,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.43,50.00
$GC,360,-1.80,-487.5,1752,1942,3066,4094,42.7,-14.9,47,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1943,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.42,48.62
$GC,408,-1.80,-487.5,1753,1943,3067,4095,49.7,-14.3,53,416,0.00,1.05,0.00,0.000,516,0.000,0.050,1753,1524,3068,3068,4095,0,0,0,0,0,0,26.56,26.06,26.57,10.41,47.48
$STATE,437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,437,begin apogee
$GC,452,-0.45,0.0,1753,2139,3069,4094,55.1,-15.3,57,488,4.70,0.00,28.83,1.263,10244,0.055,0.000,2186,2139,2483,2483,4094,0,0,0,0,0,0,26.08,25.17,23.94,10.40,46.73
$STATE,489,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,496,1.80,487.5,2186,2139,2484,4094,59.7,0.0,61,541,7.60,0.00,28.25,1.239,11270,0.028,0.000,2901,2139,1917,1917,4094,0,0,0,0,0,0,25.63,25.84,23.57,10.28,47.08
$GC,583,1.80,487.5,2901,2138,1915,4094,53.1,12.5,71,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1915,1915,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.15,45.90
$GC,632,1.80,487.5,2901,2138,1914,4094,46.6,13.0,77,641,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1719,1914,1914,4094,0,0,0,0,0,0,25.89,25.48,25.91,10.13,46.02
$GC,760,1.80,487.5,2901,1718,1910,4094,30.3,12.8,95,769,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2129,1910,1910,4094,0,0,0,0,0,0,25.90,25.86,25.93,10.12,46.45
$GC,809,1.80,487.5,2901,2128,1908,4094,24.0,12.8,101,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.13,46.77
$GC,859,1.81,491.2,2901,2128,1907,4094,18.6,10.7,107,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1908,1908,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.17,48.66
$GC,908,1.82,500.2,2901,2128,1906,4094,13.5,10.6,113,916,0.00,0.00,0.28,0.004,8198,0.000,0.000,2902,2129,1906,1906,4095,0,0,0,0,0,0,26.39,26.39,26.40,10.20,50.27
$GC,957,1.84,514.7,2901,2128,1905,4095,8.2,10.6,119,967,0.00,1.08,2.85,0.248,8708,0.000,0.042,2902,1717,1883,1883,4094,0,0,0,0,0,0,26.43,24.74,24.09,10.20,51.37
$STATE,1007,end climb,FINISH_DEPTH_REACHED
$STATE,1008,begin subsurface finish
$FINISH1,1.7,1.024247,94
$GC,1023,0.14,94.3,2901,2145,1882,4094,1.7,11.3,126,1041,5.30,0.00,-4.47,0.000,20486,0.025,0.000,2385,2147,2377,2377,4094,0,0,0,0,0,0,26.17,25.46,26.22,10.22,52.20
$FINISH2,0.2
$STATE,1042,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1042,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,225351
$TT8_MAMPS,0.025466,0.245672
$HUMID,52.44
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.57,74.001
$10V_AH,9.98,66.688
$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,34.600,9.125,60.200,0.000,0.000,22.298,29.078,286.443,0.000,0.000,53.092,364.158,0.000,105.085,869.967,404.377,0.000,312.566,0.000,315.147,0.000,0.543,0.000
$DEVICE_MAMPS,88.740,1214.820,1263.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.542,347.768,275.211,408.170,529.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,14394,128
$CAP_FILE_SIZE,26384,0
$CFSIZE,1024409600,895156224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,001152,5945.660,-17125.959,6,0.9,51,8.2,0.3,114.7,8,3.4