version: 66.13
glider: 401
mission: 22
dive: 2476
start: 9 8 117 2 29 14
data:
$ID,401
$MISSION,22
$DIVE,2476
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,080917,021009,5949.4839,-17141.1426,4,0.9,14,8.0,0.6,201.1,10,5.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-35.8
$GPS2,080917,022834,5949.5083,-17141.3418,6,0.8,18,8.0,0.0,269.4,11,4.9
$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,103.8,14400,-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,-487.5,239,1937,1805,4092,0.0,0.0,0,21,7.60,0.00,0.00,0.000,2049,0.094,0.000,877,1937,1806,1806,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.27,51.22
$GC,28,-1.80,-487.5,877,1937,1805,4094,0.8,0.0,1,55,9.45,1.17,-11.73,0.000,19204,0.044,1.226,1756,1529,3056,3056,4095,0,0,0,0,0,0,25.94,23.75,25.97,10.28,50.90
$GC,69,-1.80,-487.5,1756,1527,3056,4095,0.1,1.6,5,78,0.00,0.93,0.00,0.000,1030,0.000,0.024,1756,1940,3056,3056,4094,0,0,0,0,0,0,26.01,25.99,26.03,10.55,51.65
$GC,119,-1.80,-487.5,1756,1940,3057,4094,5.8,-14.0,11,128,0.00,1.08,0.00,0.000,516,0.000,0.050,1756,1529,3058,3058,4095,0,0,0,0,0,0,26.32,25.84,26.34,10.55,50.90
$GC,369,-1.80,-487.5,1756,1529,3065,4095,45.2,-14.4,47,379,0.00,0.98,0.00,0.000,1030,0.000,0.025,1757,1952,3065,3065,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.43,47.40
$GC,419,-1.80,-487.5,1756,1951,3066,4095,52.6,-14.7,53,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1952,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.41,47.28
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,449,-0.45,0.0,1756,2135,3067,4094,55.9,-14.9,55,492,4.62,0.00,28.67,1.261,10244,0.054,0.000,2185,2135,2485,2485,4094,0,0,0,0,0,0,26.07,24.76,23.96,10.41,46.61
$STATE,493,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,499,1.80,487.5,2184,2135,2484,4094,60.7,0.0,60,544,7.60,0.00,28.08,1.239,11270,0.029,0.000,2901,2135,1921,1921,4094,0,0,0,0,0,0,25.66,25.88,23.64,10.29,45.82
$GC,585,1.80,487.5,2901,2135,1920,4094,54.6,12.1,70,595,0.00,1.10,0.55,0.003,8708,0.000,0.041,2901,1721,1920,1920,4094,0,0,0,0,0,0,25.70,25.32,25.70,10.16,44.64
$GC,720,1.80,487.5,2901,1721,1916,4094,36.7,13.1,89,729,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2129,1916,1916,4094,0,0,0,0,0,0,25.83,25.79,25.86,10.13,45.86
$GC,769,1.80,487.5,2901,2128,1915,4094,30.5,12.6,95,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1914,1914,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.12,46.49
$GC,818,1.80,487.5,2901,2128,1913,4094,24.5,12.0,101,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1913,1913,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.13,46.14
$GC,866,1.95,584.8,2901,2128,1912,4094,19.8,9.3,107,877,0.40,1.08,6.82,0.643,10756,0.031,0.045,2948,1719,1801,1801,4094,0,0,0,0,0,0,26.11,25.46,24.33,10.18,48.11
$GC,1000,1.95,584.8,2947,1718,1797,4094,5.1,12.1,125,1010,0.00,0.98,0.00,0.000,1030,0.000,0.028,2948,2123,1797,1797,4094,0,0,0,0,0,0,26.08,26.06,26.12,10.20,51.69
$STATE,1018,end climb,FINISH_DEPTH_REACHED
$STATE,1018,begin subsurface finish
$FINISH1,1.5,1.024239,95
$GC,1032,0.14,94.8,2948,2123,1796,4094,1.5,12.7,127,1051,5.80,0.00,-5.22,0.000,20486,0.024,0.000,2387,2132,2373,2373,4094,0,0,0,0,0,0,26.11,25.44,26.17,10.21,52.04
$FINISH2,0.1
$STATE,1052,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1052,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,022123
$TT8_MAMPS,0.025466,0.270389
$HUMID,52.59
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,23.64,72.440
$10V_AH,9.99,65.453
$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,35.475,8.825,64.125,0.000,0.000,126.753,126.912,324.726,0.000,0.000,20.210,364.278,180.007,107.776,1084.749,423.464,0.000,319.761,0.000,317.618,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1226.295,1260.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.250,350.512,277.420,411.144,536.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,10839,129
$CAP_FILE_SIZE,30769,0
$CFSIZE,1024409600,897810432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,022834,5949.508,-17141.342,6,0.8,18,8.0,0.0,269.4,11,4.9