version: 66.13
glider: 401
mission: 22
dive: 2541
start: 9 9 117 4 43 58
data:
$ID,401
$MISSION,22
$DIVE,2541
$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,18
$R_STBD_OVSHOOT,31
$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
$GPS1,090917,040306,5944.9888,-17126.7305,7,0.8,35,8.2,0.4,330.1,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.8
$GPS2,090917,040306,5944.9888,-17126.7305,7,0.8,35,8.2,0.4,330.1,11,4.9
$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,112.1,34049,-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,-487.5,2354,1957,2486,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.021,0.000,1806,1957,2487,2487,4095,0,0,0,0,0,0,26.49,28.83,28.83,10.36,53.85
$GC,26,-1.80,-487.5,1805,1957,2486,4095,0.3,0.0,1,39,0.20,1.25,-5.35,0.000,20996,0.054,1.232,1781,1513,3057,3057,4095,0,0,0,0,0,0,26.20,23.97,26.22,10.36,53.42
$GC,229,-1.80,-487.5,1780,1512,3062,4095,24.6,-16.0,33,235,0.00,1.02,0.00,0.000,1030,0.000,0.028,1780,1943,3062,3062,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.49,53.89
$GC,271,-1.80,-487.5,1779,1942,3063,4095,30.3,-12.0,39,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1943,3062,3062,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.44,53.62
$GC,312,-1.80,-487.5,1780,1942,3064,4094,35.0,-11.2,45,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1943,3064,3064,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.42,52.36
$GC,354,-1.80,-487.5,1780,1943,3065,4095,40.2,-12.9,51,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1943,3066,3066,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.40,51.49
$GC,395,-1.80,-487.5,1780,1943,3066,4095,45.7,-13.5,57,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1944,3066,3066,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.39,50.51
$GC,437,-1.80,-487.5,1780,1944,3067,4094,51.1,-13.0,63,444,0.00,1.12,0.00,0.000,260,0.000,0.046,1780,2373,3067,3067,4094,0,0,0,0,0,0,26.62,26.13,26.63,10.38,50.00
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,475,-0.45,0.0,1780,2109,3068,4095,55.1,-13.2,67,511,4.38,0.00,28.55,1.245,10244,0.053,0.000,2185,2109,2484,2484,4095,0,0,0,0,0,0,26.15,25.24,24.01,10.38,50.03
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,519,1.80,487.5,2185,2108,2484,4095,58.2,0.0,73,560,7.62,0.00,28.20,1.222,11270,0.030,0.000,2901,2109,1916,1916,4094,0,0,0,0,0,0,25.68,25.89,23.63,10.25,48.74
$GC,597,1.80,487.5,2901,2108,1915,4094,52.2,12.7,85,603,0.00,0.98,0.00,0.000,516,0.000,0.047,2901,1734,1915,1915,4095,0,0,0,0,0,0,25.67,25.29,25.68,10.12,47.28
$GC,735,1.80,487.5,2901,1734,1911,4095,33.9,12.8,107,742,0.00,0.98,0.00,0.000,1030,0.000,0.031,2901,2129,1911,1911,4094,0,0,0,0,0,0,25.83,25.79,25.85,10.11,48.54
$GC,778,1.80,487.5,2901,2128,1909,4094,28.1,13.4,113,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.11,48.30
$GC,819,1.80,487.5,2901,2128,1908,4094,22.4,13.9,119,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.12,48.58
$GC,861,1.87,529.6,2901,2128,1907,4095,18.0,10.1,125,870,0.10,1.05,3.78,0.429,10756,0.073,0.044,2923,1732,1866,1866,4094,0,0,0,0,0,0,26.12,25.32,24.10,10.16,50.31
$STATE,1004,end climb,SURFACE_DEPTH_REACHED
$STATE,1004,begin surface coast
$FINISH,0.1,1.001818
$STATE,1018,end surface coast,CONTROL_FINISHED_OK
$STATE,1018,begin surface
$SM_CCo,1128,0.00,0.000,0,0,1861,535.77
$SM_GC,0.98,28.17,0.55,0.00,0.020,0.036,0.000,231,1971,1861,-6.59,-1.23,535.77,0,0,0,0,0,0,25.98,26.13,26.07
$IRIDIUM_FIX,5955.74,-17228.01,090917,035506
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.29
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.63,74.318
$10V_AH,10.31,66.936
$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,46.050,9.175,60.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.496,313.061,139.959,216.965,130.585,0.000,292.703,0.000,227.265,0.000,0.543,0.000
$DEVICE_MAMPS,73.440,1232.415,1245.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,10817,150
$CAP_FILE_SIZE,24331,0
$CFSIZE,1024409600,894615552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,050347,5945.153,-17125.945,5,0.7,14,8.2,0.0,8.6,11,4.7