version: 66.13
glider: 401
mission: 22
dive: 2551
start: 9 9 117 9 2 7
data:
$ID,401
$MISSION,22
$DIVE,2551
$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,14
$R_STBD_OVSHOOT,68
$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
$GPS1,090917,084654,5945.1187,-17121.6895,5,1.0,50,8.2,0.3,31.1,8,3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-43.2
$GPS2,090917,090127,5945.1177,-17121.5996,7,0.8,21,8.2,0.4,211.5,10,4.9
$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,117.2,30135,-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,-487.5,229,1963,1903,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.095,0.000,701,1961,1903,1903,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.27,51.49
$GC,26,-1.80,-487.5,701,1961,1903,4094,0.9,0.0,1,57,11.75,1.08,-10.77,0.000,18692,0.063,1.210,1755,2335,3057,3057,4095,0,0,0,0,0,0,25.95,23.68,25.98,10.27,51.37
$GC,270,-1.80,-487.5,1755,2335,3062,4095,29.3,-12.3,40,277,0.00,1.00,0.00,0.000,1030,0.000,0.031,1756,1934,3062,3062,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.48,50.47
$GC,313,-1.80,-487.5,1755,1934,3063,4094,34.7,-12.6,46,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1934,3064,3064,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.45,50.59
$GC,354,-1.80,-487.5,1755,1934,3064,4095,40.0,-13.2,52,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1934,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.43,49.05
$GC,396,-1.80,-487.5,1756,1934,3065,4095,45.4,-12.9,58,402,0.00,1.08,0.00,0.000,260,0.000,0.044,1756,2336,3066,3066,4094,0,0,0,0,0,0,26.53,26.06,26.55,10.42,47.75
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,476,-0.45,0.0,1756,2111,3067,4095,55.4,-14.0,69,512,4.65,0.00,28.60,1.278,10244,0.054,0.000,2186,2106,2483,2483,4094,0,0,0,0,0,0,26.08,25.15,23.90,10.40,47.20
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,520,1.80,487.5,2185,2106,2483,4094,59.0,0.0,75,561,7.60,0.00,28.20,1.247,11270,0.029,0.000,2901,2106,1916,1916,4094,0,0,0,0,0,0,25.63,25.83,23.55,10.28,46.69
$GC,597,1.80,487.5,2901,2106,1915,4094,53.4,11.8,87,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2106,1914,1914,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.15,46.06
$GC,639,1.80,487.5,2901,2106,1913,4094,48.4,11.6,93,645,0.00,0.95,0.00,0.000,516,0.000,0.044,2901,1742,1913,1913,4094,0,0,0,0,0,0,25.83,25.44,25.84,10.14,46.25
$GC,789,1.80,487.5,2900,1742,1910,4094,30.2,11.8,117,795,0.00,0.85,0.00,0.000,1030,0.000,0.028,2901,2100,1909,1909,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.13,47.59
$GC,831,1.80,487.5,2901,2099,1908,4094,25.3,12.1,123,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2100,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.16,47.95
$GC,873,1.88,535.1,2901,2099,1907,4094,21.0,10.1,129,881,0.15,0.00,4.10,0.490,10246,0.057,0.000,2927,2100,1859,1859,4094,0,0,0,0,0,0,26.11,25.20,24.08,10.19,49.84
$GC,916,1.88,535.1,2926,2099,1858,4094,16.3,11.0,135,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2100,1858,1858,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.19,51.85
$GC,958,1.88,535.1,2927,2099,1857,4095,11.3,11.8,141,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2100,1857,1857,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.20,52.40
$GC,999,1.88,535.1,2926,2099,1856,4094,6.3,12.4,147,1006,0.00,0.95,0.00,0.000,516,0.000,0.048,2928,1739,1856,1856,4094,0,0,0,0,0,0,26.41,25.94,26.43,10.21,52.28
$STATE,1030,end climb,FINISH_DEPTH_REACHED
$STATE,1030,begin subsurface finish
$FINISH1,2.0,1.024333,88
$GC,1046,0.13,88.3,2927,2136,1854,4094,2.0,12.3,152,1059,5.55,0.00,-4.78,0.000,20486,0.021,0.000,2380,2136,2388,2388,4094,0,0,0,0,0,0,26.16,24.39,26.21,10.21,52.59
$FINISH2,0.2
$STATE,1060,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1060,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,085155
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.34
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.55,74.623
$10V_AH,10.13,67.179
$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,35.325,7.525,60.900,0.000,0.000,48.016,43.840,388.292,0.000,0.000,22.327,407.244,293.423,135.465,644.968,452.723,0.000,303.037,0.000,234.700,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,1210.230,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10856,154
$CAP_FILE_SIZE,30844,0
$CFSIZE,1024409600,894124032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,090127,5945.118,-17121.600,7,0.8,21,8.2,0.4,211.5,10,4.9