version: 66.13
glider: 401
mission: 22
dive: 2548
start: 9 9 117 7 46 44
data:
$ID,401
$MISSION,22
$DIVE,2548
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,090917,073200,5945.4204,-17123.1562,5,0.8,18,8.2,0.4,77.2,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-42.6
$GPS2,090917,074605,5945.4409,-17123.0430,6,0.8,22,8.2,0.0,71.1,10,4.9
$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,116.6,31586,-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,-487.5,229,1949,1901,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.090,0.000,949,1950,1901,1901,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.27,51.53
$GC,29,-1.80,-487.5,948,1949,1901,4094,0.7,0.0,1,57,8.60,1.25,-10.73,0.000,18692,0.039,1.211,1755,2373,3053,3053,4094,0,0,0,0,0,0,25.95,23.72,26.02,10.27,51.85
$GC,234,-1.80,-487.5,1754,2372,3059,4094,26.7,-14.1,29,244,0.00,1.05,0.00,0.000,1030,0.000,0.029,1755,1952,3059,3059,4095,0,0,0,0,0,0,26.08,26.05,26.12,10.49,51.53
$GC,286,-1.80,-487.5,1754,1953,3060,4095,33.6,-13.5,35,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1953,3060,3060,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.45,49.80
$GC,336,-1.80,-487.5,1754,1953,3061,4094,40.5,-13.9,41,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1953,3061,3061,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.43,48.85
$GC,386,-1.80,-487.5,1754,1953,3062,4094,47.6,-14.5,47,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1953,3062,3062,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.41,47.55
$GC,437,-1.80,-487.5,1754,1953,3064,4094,54.8,-14.3,53,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1953,3064,3064,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.40,46.96
$STATE,453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,453,begin apogee
$GC,467,-0.45,0.0,1754,2147,3065,4095,58.1,-14.0,55,510,4.65,0.00,28.80,1.304,10244,0.054,0.000,2185,2147,2484,2484,4095,0,0,0,0,0,0,26.07,24.72,23.87,10.39,46.77
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,518,1.80,487.5,2185,2146,2484,4095,62.7,0.0,60,562,7.60,0.00,28.58,1.278,11270,0.030,0.000,2901,2147,1915,1915,4094,0,0,0,0,0,0,25.65,25.85,23.52,10.28,46.10
$GC,604,1.80,487.5,2900,2146,1913,4094,56.3,11.6,70,614,0.00,1.17,0.00,0.000,516,0.000,0.044,2901,1712,1913,1913,4094,0,0,0,0,0,0,25.67,25.29,25.68,10.14,45.35
$GC,758,1.80,487.5,2900,1711,1909,4094,36.0,13.1,92,768,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2123,1908,1908,4094,0,0,0,0,0,0,25.86,25.84,25.90,10.12,47.16
$GC,808,1.80,487.5,2900,2123,1907,4094,29.5,13.2,98,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1907,1907,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.12,46.81
$GC,857,1.80,487.5,2900,2123,1905,4094,23.2,13.0,104,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1906,1906,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.14,47.48
$GC,905,1.80,487.5,2900,2123,1905,4094,17.6,11.3,110,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1904,1904,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.18,50.03
$GC,954,1.80,487.5,2900,2123,1903,4094,12.2,11.0,116,963,0.00,1.08,0.00,0.000,516,0.000,0.046,2901,1715,1903,1903,4094,0,0,0,0,0,0,26.41,25.94,26.42,10.19,50.82
$STATE,1043,end climb,FINISH_DEPTH_REACHED
$STATE,1043,begin subsurface finish
$FINISH1,1.8,1.024327,89
$GC,1059,0.13,88.7,2901,2152,1900,4094,1.8,10.7,129,1077,5.25,0.00,-4.35,0.000,20486,0.022,0.000,2382,2153,2382,2382,4094,0,0,0,0,0,0,26.20,25.50,26.25,10.21,52.28
$FINISH2,0.1
$STATE,1078,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,073653
$TT8_MAMPS,0.025466,0.247919
$HUMID,52.59
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.52,74.533
$10V_AH,9.97,67.117
$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,34.575,7.125,57.375,0.000,0.000,46.688,43.917,362.261,0.000,0.000,23.791,372.186,44.683,111.410,957.493,438.311,0.000,331.099,0.000,323.103,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1210.995,1304.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.461,355.924,281.675,417.790,546.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10786,131
$CAP_FILE_SIZE,27837,0
$CFSIZE,1024409600,894271488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,074605,5945.441,-17123.043,6,0.8,22,8.2,0.0,71.1,10,4.9