version: 66.13
glider: 401
mission: 22
dive: 2533
start: 9 9 117 1 34 54
data:
$ID,401
$MISSION,22
$DIVE,2533
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,090917,011555,5945.1738,-17126.2129,5,0.9,50,8.2,0.0,161.6,10,5.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-29.0
$GPS2,090917,013410,5945.1406,-17126.4570,7,0.8,16,8.2,0.0,284.3,11,4.8
$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,112.8,33972,-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,-487.5,231,1948,1604,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.067,0.000,730,1947,1604,1604,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.23,50.90
$GC,27,-1.80,-487.5,729,1947,1604,4094,0.4,0.0,1,57,10.88,1.25,-13.25,0.000,19204,0.037,1.210,1754,2371,3056,3056,4094,0,0,0,0,0,0,25.96,23.77,26.03,10.23,50.74
$GC,295,-1.80,-487.5,1753,2372,3061,4094,24.1,-12.2,44,301,0.00,1.08,0.00,0.000,1030,0.000,0.030,1754,1940,3061,3061,4095,0,0,0,0,0,0,26.15,26.11,26.18,10.54,50.78
$GC,338,-1.80,-487.5,1754,1940,3061,4095,28.3,-9.1,50,344,0.00,1.15,0.00,0.000,260,0.000,0.039,1754,2376,3062,3062,4094,0,0,0,0,0,0,26.53,26.07,26.54,10.50,50.82
$GC,582,-1.80,-487.5,1754,2376,3066,4094,54.1,-11.0,89,588,0.00,1.05,0.00,0.000,1030,0.000,0.030,1754,1950,3066,3066,4095,0,0,0,0,0,0,26.28,26.25,26.31,10.40,47.67
$STATE,593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,593,begin apogee
$GC,607,-0.45,0.0,1754,2148,3067,4095,56.0,-10.9,91,643,4.65,0.00,28.52,1.255,10244,0.056,0.000,2186,2148,2484,2484,4094,0,0,0,0,0,0,26.13,25.21,23.96,10.40,46.69
$STATE,644,end apogee,CONTROL_FINISHED_OK
$STATE,644,begin climb
$GC,651,1.80,487.5,2185,2148,2484,4094,59.4,0.0,97,692,7.55,0.00,28.20,1.231,11270,0.028,0.000,2900,2148,1915,1915,4094,0,0,0,0,0,0,25.70,25.91,23.61,10.29,46.25
$GC,728,1.80,487.5,2900,2148,1914,4094,53.9,11.0,109,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1914,1914,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.15,45.86
$GC,770,1.84,512.3,2900,2148,1913,4094,49.3,10.4,115,778,0.00,1.17,3.20,0.479,8708,0.000,0.045,2900,1711,1888,1888,4094,0,0,0,0,0,0,25.86,25.03,23.62,10.15,45.66
$GC,939,1.84,512.3,2900,1711,1882,4094,31.6,11.0,141,945,0.00,1.02,0.00,0.000,1030,0.000,0.027,2901,2136,1882,1882,4095,0,0,0,0,0,0,25.96,25.93,25.98,10.12,48.22
$GC,981,1.84,512.3,2900,2136,1881,4095,26.6,10.9,147,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1881,1881,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.12,47.63
$GC,1023,1.99,612.6,2900,2135,1881,4095,22.6,9.3,153,1036,0.55,0.00,6.85,0.672,10246,0.029,0.000,2966,2136,1768,1768,4095,0,0,0,0,0,0,26.10,25.32,24.26,10.15,48.66
$GC,1072,2.06,660.2,2965,2136,1768,4095,17.9,10.1,160,1079,0.10,0.00,4.30,0.485,10246,0.070,0.000,2986,2136,1713,1713,4094,0,0,0,0,0,0,26.12,25.30,24.27,10.16,50.43
$GC,1115,2.06,660.2,2985,2136,1712,4094,13.0,11.2,166,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2136,1712,1712,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.17,51.22
$GC,1156,2.06,660.2,2985,2136,1711,4094,8.5,10.9,172,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2136,1711,1711,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.17,52.91
$GC,1198,2.06,660.2,2985,2136,1710,4094,4.1,11.1,178,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2136,1710,1710,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.18,53.11
$STATE,1215,end climb,FINISH_DEPTH_REACHED
$STATE,1215,begin subsurface finish
$FINISH1,1.5,1.024238,95
$GC,1230,0.14,94.9,2986,2136,1709,4094,1.5,11.8,181,1249,6.15,0.00,-5.88,0.000,20486,0.021,0.000,2387,2138,2379,2379,4094,0,0,0,0,0,0,26.14,25.51,26.16,10.19,53.30
$FINISH2,0.1
$STATE,1250,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1250,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,013020
$TT8_MAMPS,0.025466,0.160286
$HUMID,53.81
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,23.61,74.106
$10V_AH,10.15,66.758
$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,35.500,7.200,71.075,0.000,0.000,69.239,66.309,534.484,0.000,0.000,17.547,472.578,399.451,143.540,865.420,467.554,0.000,330.695,0.000,276.923,0.000,0.543,0.000
$DEVICE_MAMPS,70.380,1210.230,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14199,184
$CAP_FILE_SIZE,33478,0
$CFSIZE,1024409600,894992384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,013410,5945.141,-17126.457,7,0.8,16,8.2,0.0,284.3,11,4.8