version: 66.13
glider: 401
mission: 22
dive: 2457
start: 9 7 117 18 39 9
data:
$ID,401
$MISSION,22
$DIVE,2457
$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,20
$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
$GPS1,070917,175830,5951.3486,-17146.0020,10,0.9,41,8.0,0.2,82.9,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,4.0
$GPS2,070917,175830,5951.3486,-17146.0020,10,0.9,41,8.0,0.2,82.9,10,4.9
$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,108.3,19761,-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,-487.5,2346,1973,2489,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.027,0.000,1804,1974,2489,2489,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.36,53.81
$GC,26,-1.80,-487.5,1804,1973,2489,4094,0.1,0.0,1,39,0.17,1.17,-5.45,0.000,21252,0.054,1.222,1779,2381,3055,3055,4095,0,0,0,0,0,0,26.21,24.02,26.23,10.35,54.33
$GC,50,-1.80,-487.5,1778,2381,3055,4095,0.1,-0.1,4,56,0.00,1.10,0.00,0.000,1030,0.000,0.034,1778,1952,3055,3055,4095,0,0,0,0,0,0,26.03,25.98,26.05,10.48,53.34
$GC,92,-1.80,-487.5,1778,1952,3056,4095,5.5,-14.1,10,98,0.00,1.10,0.00,0.000,516,0.000,0.048,1778,1517,3056,3056,4094,0,0,0,0,0,0,26.39,25.94,26.41,10.48,53.58
$GC,317,-1.80,-487.5,1778,1516,3062,4094,38.4,-12.7,46,324,0.00,1.05,0.00,0.000,1030,0.000,0.027,1779,1962,3062,3062,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.39,51.57
$GC,360,-1.80,-487.5,1778,1962,3063,4095,43.9,-12.8,52,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1962,3063,3063,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.38,50.66
$GC,401,-1.80,-487.5,1777,1962,3064,4095,49.4,-13.7,58,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1962,3064,3064,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.38,50.11
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,450,-0.45,0.0,1778,2140,3065,4094,55.1,-14.1,64,486,4.40,0.00,28.42,1.248,10244,0.054,0.000,2186,2140,2484,2484,4095,0,0,0,0,0,0,26.13,25.24,24.04,10.38,49.84
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2186,2140,2484,4095,58.8,0.0,70,536,7.53,1.15,28.10,1.226,10756,0.030,0.043,2903,1700,1915,1915,4094,0,0,0,0,0,0,25.56,25.51,23.66,10.25,48.62
$GC,626,1.80,487.5,2903,1700,1913,4094,46.9,12.9,90,632,0.00,1.08,0.00,0.000,1030,0.000,0.028,2904,2133,1913,1913,4094,0,0,0,0,0,0,25.60,25.57,25.63,10.11,47.63
$GC,668,1.80,487.5,2903,2132,1912,4094,40.6,13.4,96,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1912,1912,4095,0,0,0,0,0,0,26.01,26.03,26.02,10.10,48.54
$GC,710,1.80,487.5,2903,2132,1911,4095,35.0,13.0,102,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1911,1911,4095,0,0,0,0,0,0,26.10,26.13,26.12,10.10,48.03
$GC,751,1.80,487.5,2903,2132,1909,4095,29.6,12.8,108,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1909,1909,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.09,48.14
$GC,793,1.93,569.4,2903,2132,1908,4094,25.6,9.5,114,806,0.28,1.12,6.00,0.652,10756,0.038,0.047,2938,1702,1818,1818,4094,0,0,0,0,0,0,26.02,24.94,24.23,10.09,49.05
$STATE,1020,end climb,SURFACE_DEPTH_REACHED
$STATE,1020,begin surface coast
$FINISH,0.1,1.024251
$STATE,1033,end surface coast,CONTROL_FINISHED_OK
$STATE,1033,begin surface
$SM_CCo,1142,0.00,0.000,0,0,1811,578.70
$SM_GC,0.86,28.17,0.62,0.00,0.020,0.030,0.000,238,1986,1811,-6.55,-1.09,578.70,0,0,0,0,0,0,26.19,26.18,26.23
$IRIDIUM_FIX,5955.74,-17228.01,070917,164311
$TT8_MAMPS,0.025466,0.10486
$HUMID,54.84
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.66,71.881
$10V_AH,10.30,65.001
$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,46.175,10.375,62.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,406.045,321.020,139.746,221.410,126.536,0.000,292.931,0.000,231.522,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1222.470,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,10807,153
$CAP_FILE_SIZE,23923,0
$CFSIZE,1024409600,898744320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,185916,5951.341,-17144.547,3,0.7,19,8.0,0.4,96.2,11,5.0