version: 66.13
glider: 401
mission: 22
dive: 2569
start: 9 9 117 16 20 6
data:
$ID,401
$MISSION,22
$DIVE,2569
$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,26
$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
$GPS1,090917,160257,5942.5234,-17119.6602,37,0.8,39,8.2,0.5,35.1,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-37.2
$GPS2,090917,161927,5942.5361,-17119.6426,7,0.8,14,8.2,0.0,30.2,11,4.8
$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,110.9,26027,-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,-487.5,239,1948,1831,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.096,0.000,709,1950,1831,1831,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.25,51.49
$GC,26,-1.80,-487.5,709,1948,1831,4094,0.8,0.0,1,57,11.32,1.25,-11.38,0.000,19204,0.047,1.213,1753,2371,3058,3058,4094,0,0,0,0,0,0,25.76,23.68,25.89,10.26,51.29
$GC,295,-1.80,-487.5,1753,2371,3065,4094,36.6,-12.8,44,301,0.00,1.08,0.00,0.000,1030,0.000,0.031,1753,1943,3065,3065,4095,0,0,0,0,0,0,26.13,26.08,26.15,10.44,50.15
$GC,337,-1.80,-487.5,1753,1943,3066,4095,42.3,-13.7,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1943,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.42,48.77
$GC,379,-1.80,-487.5,1753,1942,3066,4094,48.2,-14.9,56,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1943,3067,3067,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.41,47.99
$GC,420,-1.80,-487.5,1753,1942,3068,4094,54.5,-15.7,62,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1942,3069,3069,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.41,47.36
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,445,-0.45,0.0,1753,2150,3069,4094,56.8,-14.2,64,482,4.68,0.00,28.83,1.268,10244,0.054,0.000,2186,2150,2484,2484,4094,0,0,0,0,0,0,26.06,25.13,23.87,10.40,47.51
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,489,1.80,487.5,2186,2150,2484,4094,60.8,0.0,70,531,7.55,0.00,28.27,1.247,11270,0.028,0.000,2900,2150,1915,1915,4094,0,0,0,0,0,0,25.63,25.82,23.52,10.28,46.61
$GC,567,1.80,487.5,2899,2150,1915,4094,54.7,13.1,82,573,0.00,1.17,0.00,0.000,516,0.000,0.044,2899,1714,1914,1914,4094,0,0,0,0,0,0,25.63,25.25,25.65,10.15,46.53
$GC,645,1.80,487.5,2899,1714,1912,4094,44.0,13.6,94,652,0.00,1.02,0.00,0.000,1030,0.000,0.028,2899,2129,1912,1912,4094,0,0,0,0,0,0,25.68,25.65,25.71,10.14,46.65
$GC,688,1.80,487.5,2899,2128,1911,4094,38.5,13.7,100,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1911,1911,4095,0,0,0,0,0,0,26.08,26.09,26.09,10.13,46.85
$GC,729,1.80,487.5,2899,2128,1910,4095,33.2,11.9,106,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2129,1909,1909,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.12,46.96
$GC,771,1.80,487.5,2899,2128,1909,4094,27.5,13.1,112,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1908,1908,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.12,47.32
$GC,812,1.80,487.5,2899,2128,1907,4094,22.7,10.9,118,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1907,1907,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.15,47.55
$GC,854,1.92,562.6,2899,2129,1906,4094,18.7,9.7,124,868,0.32,1.10,5.47,0.575,10756,0.036,0.046,2941,1714,1826,1826,4094,0,0,0,0,0,0,26.10,24.89,24.20,10.18,49.64
$GC,987,2.04,645.2,2941,1713,1823,4094,4.8,9.5,144,1001,0.28,1.02,5.85,0.485,11270,0.028,0.031,2978,2133,1730,1730,4094,0,0,0,0,0,0,26.10,26.06,24.41,10.20,53.11
$STATE,1006,end climb,FINISH_DEPTH_REACHED
$STATE,1006,begin subsurface finish
$FINISH1,1.5,1.024347,87
$GC,1020,0.13,87.3,2978,2140,1729,4094,1.5,10.6,147,1039,6.12,0.00,-5.90,0.000,20486,0.021,0.000,2382,2139,2388,2388,4095,0,0,0,0,0,0,26.10,25.48,26.13,10.18,52.99
$FINISH2,0.1
$STATE,1040,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1040,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,161309
$TT8_MAMPS,0.025466,0.133322
$HUMID,53.42
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.52,75.141
$10V_AH,10.21,67.594
$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,35.900,7.150,68.425,0.000,0.000,70.659,84.646,408.506,0.000,0.000,15.353,391.472,320.840,146.515,708.832,461.713,0.000,314.523,0.000,228.883,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1212.525,1267.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,10802,150
$CAP_FILE_SIZE,31196,0
$CFSIZE,1024409600,893239296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,161927,5942.536,-17119.643,7,0.8,14,8.2,0.0,30.2,11,4.8