version: 66.13
glider: 401
mission: 22
dive: 2570
start: 9 9 117 16 39 38
data:
$ID,401
$MISSION,22
$DIVE,2570
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,090917,161927,5942.5361,-17119.6426,7,0.8,14,8.2,0.0,30.2,11,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-6.4
$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,-487.5,2382,1933,2388,4092,0.0,0.0,0,23,6.35,0.00,-2.05,0.000,20482,0.022,0.000,1761,1934,2606,2606,4094,0,0,0,0,0,0,26.15,28.83,26.19,10.34,53.46
$GC,30,-1.80,-487.5,1760,1933,2606,4094,0.0,0.0,1,40,0.00,1.30,-4.28,0.000,16644,0.000,1.220,1761,2379,3057,3057,4095,0,0,0,0,0,0,26.44,23.94,26.44,10.38,53.22
$GC,209,-1.80,-487.5,1760,2380,3062,4095,23.2,-17.6,26,219,0.00,1.05,0.00,0.000,1030,0.000,0.031,1761,1960,3062,3062,4094,0,0,0,0,0,0,26.15,26.10,26.20,10.48,52.83
$GC,259,-1.80,-487.5,1760,1959,3063,4094,31.1,-13.5,32,269,0.00,1.12,0.00,0.000,516,0.000,0.054,1761,1520,3063,3063,4095,0,0,0,0,0,0,26.53,26.02,26.55,10.42,52.44
$GC,342,-1.80,-487.5,1760,1520,3065,4095,41.5,-12.2,43,351,0.00,1.00,0.00,0.000,1030,0.000,0.027,1761,1948,3066,3066,4095,0,0,0,0,0,0,26.28,26.27,26.30,10.40,50.23
$GC,392,-1.80,-487.5,1760,1948,3067,4095,48.7,-14.4,49,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1948,3066,3066,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.39,50.03
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,448,-0.45,0.0,1760,2145,3068,4094,56.0,-15.3,55,484,4.60,0.00,28.75,1.268,10244,0.054,0.000,2186,2146,2484,2484,4094,0,0,0,0,0,0,26.13,25.20,23.96,10.38,49.33
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,491,1.80,487.5,2186,2145,2483,4094,60.5,0.0,59,536,7.62,0.00,28.35,1.242,11270,0.031,0.000,2901,2145,1915,1915,4094,0,0,0,0,0,0,25.67,25.86,23.58,10.26,48.22
$GC,578,1.80,487.5,2900,2144,1913,4094,53.6,13.2,69,586,0.00,1.17,0.00,0.000,516,0.000,0.046,2901,1713,1914,1914,4094,0,0,0,0,0,0,25.70,25.33,25.72,10.13,46.88
$GC,731,1.80,487.5,2900,1712,1910,4094,32.5,13.6,91,740,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2132,1909,1909,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.11,47.75
$GC,781,1.80,487.5,2900,2132,1908,4094,26.5,12.3,97,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2132,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,48.14
$GC,829,1.84,509.7,2901,2132,1906,4094,21.0,10.4,103,839,0.00,1.10,2.40,0.172,8708,0.000,0.044,2901,1714,1896,1896,4094,0,0,0,0,0,0,26.32,24.60,23.85,10.16,49.40
$GC,997,1.88,537.0,2901,1714,1891,4094,2.3,10.4,126,1007,0.17,1.00,3.42,0.304,11270,0.038,0.030,2930,2125,1855,1855,4094,0,0,0,0,0,0,26.12,26.10,24.23,10.20,52.87
$STATE,1015,end climb,FINISH_DEPTH_REACHED
$STATE,1015,begin subsurface finish
$FINISH1,0.2,1.024345,87
$GC,1030,0.13,87.4,2930,2133,1856,4094,0.2,7.9,128,1047,5.50,0.00,-4.85,0.000,20486,0.024,0.000,2396,2135,2387,2387,4094,0,0,0,0,0,0,26.15,25.49,26.21,10.20,53.34
$FINISH2,0.1
$STATE,1048,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1048,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,161309
$TT8_MAMPS,0.025466,0.244923
$HUMID,53.34
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.58,75.162
$10V_AH,9.95,67.624
$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,24.250,9.725,62.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,364.586,0.000,91.758,539.621,115.570,0.000,280.924,0.000,319.857,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1220.175,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.214,353.195,279.536,414.639,538.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,10851,130
$CAP_FILE_SIZE,21609,0
$CFSIZE,1024409600,893190144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,161927,5942.536,-17119.643,7,0.8,14,8.2,0.0,30.2,11,4.8