version: 66.13
glider: 401
mission: 22
dive: 2452
start: 9 7 117 16 49 12
data:
$ID,401
$MISSION,22
$DIVE,2452
$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,52
$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
$GPS1,070917,163636,5951.2554,-17147.4395,2,0.8,14,8.0,0.0,49.6,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-38.8
$GPS2,070917,164831,5951.2959,-17147.3555,10,0.8,16,8.0,0.5,34.1,11,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,106.5,20859,-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,11,-1.80,-487.5,237,1956,1840,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.099,0.000,941,1956,1840,1840,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.27,52.12
$GC,28,-1.80,-487.5,941,1955,1840,4094,0.7,0.0,1,56,8.90,1.25,-11.45,0.000,18948,0.054,1.229,1752,1512,3055,3055,4095,0,0,0,0,0,0,25.84,23.80,25.86,10.27,52.12
$GC,70,-1.80,-487.5,1751,1512,3055,4095,0.9,-0.0,5,80,0.00,1.00,0.00,0.000,1030,0.000,0.025,1752,1944,3055,3055,4094,0,0,0,0,0,0,25.97,25.94,26.00,10.53,52.99
$GC,120,-1.80,-487.5,1751,1944,3056,4094,7.9,-15.4,11,129,0.00,1.15,0.00,0.000,516,0.000,0.047,1752,1504,3056,3056,4095,0,0,0,0,0,0,26.30,25.82,26.31,10.52,51.92
$GC,344,-1.80,-487.5,1751,1503,3063,4095,44.3,-13.6,43,352,0.00,1.00,0.00,0.000,1030,0.000,0.025,1752,1936,3063,3063,4094,0,0,0,0,0,0,26.22,26.20,26.23,10.43,48.89
$GC,392,-1.80,-487.5,1752,1936,3064,4094,51.3,-14.7,49,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1936,3065,3065,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.41,48.07
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,429,-0.45,0.0,1752,2136,3066,4095,55.6,-14.8,52,465,4.70,0.00,28.50,1.257,10244,0.054,0.000,2186,2136,2484,2484,4094,0,0,0,0,0,0,26.06,25.18,23.96,10.40,47.28
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2186,2136,2485,4094,59.9,0.0,56,517,7.57,1.15,28.05,1.237,10756,0.031,0.041,2903,1695,1918,1918,4094,0,0,0,0,0,0,25.52,25.46,23.63,10.28,46.69
$GC,608,1.80,487.5,2903,1695,1915,4094,47.0,13.7,73,618,0.00,1.08,0.00,0.000,1030,0.000,0.028,2903,2129,1915,1915,4094,0,0,0,0,0,0,25.60,25.57,25.62,10.14,45.35
$GC,658,1.80,487.5,2903,2128,1913,4094,39.3,14.3,79,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2129,1913,1913,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.14,45.82
$GC,707,1.80,487.5,2903,2128,1912,4094,32.5,14.0,85,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2129,1911,1911,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.13,46.25
$GC,755,1.80,487.5,2903,2128,1911,4094,25.9,13.7,91,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1911,1911,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.13,46.14
$GC,804,1.84,510.7,2903,2128,1909,4094,20.3,10.4,97,814,0.00,1.12,2.70,0.252,8708,0.000,0.044,2903,1702,1891,1891,4094,0,0,0,0,0,0,26.29,24.78,24.04,10.18,48.74
$GC,945,1.84,510.7,2902,1702,1888,4094,5.5,11.0,117,955,0.00,1.05,0.00,0.000,1030,0.000,0.028,2903,2137,1888,1888,4094,0,0,0,0,0,0,26.15,26.08,26.15,10.22,51.53
$STATE,976,end climb,FINISH_DEPTH_REACHED
$STATE,976,begin subsurface finish
$FINISH1,1.8,1.024237,95
$GC,990,0.14,95.0,2903,2137,1887,4094,1.8,10.2,121,1008,5.28,0.00,-4.53,0.000,20486,0.021,0.000,2381,2138,2380,2380,4094,0,0,0,0,0,0,26.18,25.46,26.22,10.23,52.75
$FINISH2,0.1
$STATE,1009,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,164129
$TT8_MAMPS,0.025466,0.263648
$HUMID,52.28
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.63,71.756
$10V_AH,10.00,64.901
$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,34.925,9.350,59.250,0.000,0.000,54.147,54.960,255.187,0.000,0.000,17.318,349.831,44.757,103.228,832.022,397.161,0.000,309.393,0.000,305.279,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1228.590,1256.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.992,334.246,264.490,392.162,512.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10843,123
$CAP_FILE_SIZE,26725,0
$CFSIZE,1024409600,898990080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070917,164831,5951.296,-17147.355,10,0.8,16,8.0,0.5,34.1,11,4.9