version: 66.13
glider: 401
mission: 22
dive: 2458
start: 9 7 117 19 15 29
data:
$ID,401
$MISSION,22
$DIVE,2458
$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,26
$R_STBD_OVSHOOT,58
$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
$GPS1,070917,185916,5951.3413,-17144.5469,3,0.7,19,8.0,0.4,96.2,11,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-34.1
$GPS2,070917,191449,5951.3257,-17144.3730,10,0.7,21,8.0,0.3,45.7,11,4.8
$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,110.3,18392,-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,-487.5,237,1938,1811,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.084,0.000,962,1930,1811,1811,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.26,52.24
$GC,28,-1.80,-487.5,962,1930,1811,4094,0.6,0.0,1,56,8.57,1.17,-11.68,0.000,19204,0.047,1.215,1757,2345,3055,3055,4094,0,0,0,0,0,0,25.96,23.77,26.02,10.26,51.69
$GC,83,-1.80,-487.5,1757,2345,3055,4094,0.7,-1.7,7,92,0.00,1.00,0.00,0.000,1030,0.000,0.030,1758,1948,3055,3055,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.54,51.65
$GC,132,-1.80,-487.5,1757,1947,3056,4094,8.1,-17.2,13,140,0.00,1.08,0.00,0.000,516,0.000,0.050,1758,1524,3057,3057,4094,0,0,0,0,0,0,26.31,25.82,26.32,10.53,51.33
$GC,350,-1.80,-487.5,1757,1524,3062,4094,41.3,-12.9,44,359,0.00,0.95,0.00,0.000,1030,0.000,0.025,1757,1941,3063,3063,4094,0,0,0,0,0,0,26.22,26.21,26.26,10.42,49.21
$GC,401,-1.80,-487.5,1757,1941,3064,4094,48.1,-14.1,50,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1941,3064,3064,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.41,47.71
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,459,-0.45,0.0,1757,2134,3066,4094,55.5,-14.9,56,495,4.62,0.00,28.62,1.261,10244,0.055,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.07,25.18,23.96,10.40,46.69
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,502,1.80,487.5,2186,2134,2484,4094,60.2,0.0,60,547,7.55,1.10,28.30,1.235,10756,0.029,0.041,2902,1711,1915,1915,4094,0,0,0,0,0,0,25.51,25.47,23.61,10.28,46.25
$GC,657,1.80,487.5,2901,1710,1911,4094,44.8,13.1,80,667,0.00,1.05,0.00,0.000,1030,0.000,0.029,2902,2134,1911,1911,4094,0,0,0,0,0,0,25.65,25.63,25.67,10.13,45.74
$GC,707,1.80,487.5,2901,2134,1910,4094,38.2,13.5,86,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1910,1910,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,45.94
$GC,756,1.80,487.5,2901,2134,1908,4094,32.3,11.0,92,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1908,1908,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,46.25
$GC,804,1.80,487.5,2902,2134,1907,4094,26.4,12.7,98,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1907,1907,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.12,46.22
$GC,853,1.83,505.3,2902,2133,1906,4094,20.7,10.5,104,863,0.00,0.00,2.42,0.178,8198,0.000,0.000,2902,2134,1894,1894,4094,0,0,0,0,0,0,26.31,24.67,23.97,10.17,47.55
$GC,903,1.88,538.4,2901,2134,1894,4094,15.9,10.3,110,914,0.17,1.08,3.45,0.372,10756,0.053,0.044,2930,1709,1859,1859,4094,0,0,0,0,0,0,26.12,24.90,24.24,10.20,50.00
$STATE,1024,end climb,FINISH_DEPTH_REACHED
$STATE,1025,begin subsurface finish
$FINISH1,1.7,1.024241,95
$GC,1040,0.14,94.7,2930,2145,1856,4094,1.7,12.5,127,1059,5.55,0.00,-4.78,0.000,20486,0.023,0.000,2384,2146,2375,2375,4094,0,0,0,0,0,0,26.17,25.46,26.21,10.21,52.24
$FINISH2,0.1
$STATE,1060,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1060,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,190551
$TT8_MAMPS,0.025466,0.241178
$HUMID,52.99
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.61,71.926
$10V_AH,10.00,65.041
$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,34.950,9.125,62.800,0.000,0.000,100.052,115.547,257.214,0.000,0.000,22.214,370.035,135.061,103.924,977.148,410.158,0.000,314.515,0.000,317.573,0.000,0.543,0.000
$DEVICE_MAMPS,84.150,1214.820,1260.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.339,350.554,277.491,411.387,536.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,14293,129
$CAP_FILE_SIZE,29199,0
$CFSIZE,1024409600,898695168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070917,191449,5951.326,-17144.373,10,0.7,21,8.0,0.3,45.7,11,4.8