version: 66.13
glider: 401
mission: 22
dive: 2459
start: 9 7 117 19 35 20
data:
$ID,401
$MISSION,22
$DIVE,2459
$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,20
$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
$GPS1,070917,191449,5951.3257,-17144.3730,10,0.7,21,8.0,0.3,45.7,11,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-5.2
$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,12,-1.80,-487.5,2384,1944,2375,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.020,0.000,1835,1945,2375,2375,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.34,52.59
$GC,26,-1.80,-487.5,1835,1944,2375,4094,0.1,0.0,1,39,0.50,1.20,-6.53,0.000,20996,0.037,1.238,1778,1525,3057,3057,4094,0,0,0,0,0,0,26.14,24.01,26.15,10.34,52.63
$GC,252,-1.80,-487.5,1777,1525,3063,4094,30.7,-12.4,37,259,0.00,1.02,0.00,0.000,1030,0.000,0.027,1778,1963,3064,3064,4095,0,0,0,0,0,0,26.24,26.21,26.25,10.43,53.03
$GC,296,-1.80,-487.5,1777,1963,3064,4095,36.0,-12.5,43,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1963,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.41,51.69
$GC,338,-1.80,-487.5,1777,1962,3066,4095,41.7,-13.0,49,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1963,3066,3066,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.40,50.39
$GC,379,-1.80,-487.5,1777,1963,3066,4095,47.2,-13.9,55,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1963,3066,3066,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.39,49.44
$GC,420,-1.80,-487.5,1777,1963,3068,4095,52.9,-14.1,61,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1963,3068,3068,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.38,49.40
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,444,-0.45,0.0,1777,2139,3068,4094,55.1,-13.3,63,480,4.40,0.00,28.50,1.248,10244,0.053,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.13,25.25,24.06,10.38,49.56
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,488,1.80,487.5,2184,2139,2484,4094,58.7,0.0,69,530,7.55,1.12,28.10,1.227,10756,0.029,0.043,2902,1707,1915,1915,4095,0,0,0,0,0,0,25.57,25.52,23.67,10.25,48.89
$GC,629,1.80,487.5,2901,1708,1913,4095,44.8,13.0,91,636,0.00,1.05,0.00,0.000,1030,0.000,0.028,2902,2132,1913,1913,4094,0,0,0,0,0,0,25.64,25.60,25.66,10.11,47.04
$GC,671,1.80,487.5,2901,2132,1911,4094,39.4,13.3,97,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1911,1911,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.11,47.59
$GC,713,1.80,487.5,2902,2132,1911,4094,34.0,12.9,103,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1910,1910,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.11,47.63
$GC,754,1.80,487.5,2901,2132,1909,4094,28.5,13.0,109,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1909,1909,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.10,47.67
$GC,796,1.80,487.5,2901,2132,1907,4094,23.1,12.7,115,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.12,48.22
$GC,837,1.80,487.5,2901,2132,1907,4094,18.7,10.8,121,844,0.00,1.10,0.00,0.000,516,0.000,0.047,2902,1716,1907,1907,4094,0,0,0,0,0,0,26.31,25.86,26.32,10.16,50.03
$GC,981,1.80,487.5,2901,1716,1903,4094,3.9,11.0,144,987,0.00,1.02,0.00,0.000,1030,0.000,0.031,2902,2134,1903,1903,4094,0,0,0,0,0,0,26.12,26.08,26.15,10.20,53.46
$STATE,992,end climb,FINISH_DEPTH_REACHED
$STATE,992,begin subsurface finish
$FINISH1,1.8,1.024236,95
$GC,1007,0.14,95.1,2902,2134,1902,4095,1.8,11.5,146,1020,5.28,0.00,-4.35,0.000,20486,0.020,0.000,2386,2141,2378,2378,4094,0,0,0,0,0,0,26.15,24.42,26.21,10.20,54.33
$FINISH2,0.1
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,190551
$TT8_MAMPS,0.025466,0.107107
$HUMID,54.21
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.67,71.946
$10V_AH,10.30,65.051
$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,23.350,7.425,56.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.849,239.797,121.523,214.704,121.396,0.000,276.837,0.000,224.405,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1237.770,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330612
$DATA_FILE_SIZE,10842,148
$CAP_FILE_SIZE,22732,0
$CFSIZE,1024409600,898646016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,191449,5951.326,-17144.373,10,0.7,21,8.0,0.3,45.7,11,4.8