version: 66.13
glider: 401
mission: 22
dive: 2496
start: 9 8 117 10 13 13
data:
$ID,401
$MISSION,22
$DIVE,2496
$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,28
$R_STBD_OVSHOOT,49
$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
$GPS1,080917,093326,5949.3535,-17133.8750,6,0.7,14,8.1,0.0,0.0,11,4.8
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-4.3
$GPS2,080917,093326,5949.3535,-17133.8750,6,0.7,14,8.1,0.0,0.0,11,4.8
$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,120.2,8168,-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,-487.5,2385,1984,2383,4092,0.0,0.0,0,22,6.43,0.00,-1.10,0.000,20482,0.023,0.000,1764,1984,2500,2500,4095,0,0,0,0,0,0,26.12,28.83,26.17,10.33,54.13
$GC,28,-1.80,-487.5,1764,1983,2500,4095,0.2,0.0,1,39,0.00,1.08,-5.30,0.000,16644,0.000,1.213,1764,2359,3058,3058,4095,0,0,0,0,0,0,26.43,23.96,26.44,10.36,54.68
$GC,52,-1.80,-487.5,1763,2360,3058,4095,0.0,0.5,3,62,0.00,1.05,0.00,0.000,1030,0.000,0.037,1764,1956,3058,3058,4094,0,0,0,0,0,0,26.01,25.98,26.06,10.48,54.29
$GC,102,-1.80,-487.5,1763,1956,3059,4094,5.2,-13.6,9,110,0.00,1.12,0.00,0.000,516,0.000,0.054,1764,1515,3060,3060,4094,0,0,0,0,0,0,26.43,25.96,26.44,10.48,53.81
$GC,319,-1.80,-487.5,1763,1514,3066,4094,40.3,-14.1,40,328,0.00,1.00,0.00,0.000,1030,0.000,0.026,1764,1941,3066,3066,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.40,52.16
$GC,369,-1.80,-487.5,1763,1941,3067,4094,47.4,-14.6,46,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1942,3068,3068,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.38,50.47
$GC,418,-1.80,-487.5,1763,1941,3069,4095,54.6,-14.9,52,427,0.00,1.12,0.00,0.000,260,0.000,0.046,1764,2372,3069,3069,4095,0,0,0,0,0,0,26.60,26.13,26.62,10.38,49.72
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,449,-0.45,0.0,1764,2107,3070,4094,58.1,-15.1,54,485,4.57,0.00,28.85,1.291,10244,0.054,0.000,2186,2106,2484,2484,4094,0,0,0,0,0,0,26.13,25.21,23.98,10.38,49.37
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,492,1.80,487.5,2185,2106,2484,4094,62.6,0.0,58,536,7.62,0.00,28.27,1.265,11270,0.031,0.000,2900,2106,1918,1918,4094,0,0,0,0,0,0,25.64,25.85,23.60,10.26,48.42
$GC,578,1.80,487.5,2899,2106,1917,4094,56.6,11.5,68,586,0.00,0.98,0.00,0.000,516,0.000,0.047,2900,1732,1916,1916,4094,0,0,0,0,0,0,25.67,25.30,25.68,10.12,46.85
$GC,717,1.80,487.5,2899,1732,1912,4094,38.3,13.3,88,727,0.00,0.95,0.00,0.000,1030,0.000,0.030,2900,2120,1912,1912,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.10,48.03
$GC,767,1.80,487.5,2899,2119,1911,4094,31.8,13.1,94,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2120,1911,1911,4094,0,0,0,0,0,0,26.22,26.22,26.22,10.10,48.58
$GC,815,1.80,487.5,2899,2119,1910,4094,25.6,12.8,100,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2120,1909,1909,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.12,48.22
$GC,864,1.91,557.1,2899,2119,1908,4094,20.7,9.7,106,873,0.28,0.00,5.22,0.572,10246,0.038,0.000,2937,2119,1834,1834,4094,0,0,0,0,0,0,26.12,25.30,24.23,10.16,50.19
$GC,915,1.91,557.1,2937,2120,1833,4094,15.2,11.8,112,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2119,1833,1833,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.17,51.37
$GC,964,1.91,557.1,2937,2120,1831,4094,9.3,11.9,118,972,0.00,1.00,0.00,0.000,516,0.000,0.042,2938,1734,1831,1831,4094,0,0,0,0,0,0,26.38,25.94,26.39,10.18,52.48
$STATE,1026,end climb,SURFACE_DEPTH_REACHED
$STATE,1026,begin surface coast
$FINISH,0.0,1.001375
$STATE,1047,end surface coast,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$SM_CCo,1157,0.00,0.000,0,0,1829,563.24
$SM_GC,0.83,28.23,0.55,0.00,0.020,0.030,0.000,238,1993,1829,-6.55,-0.73,563.24,0,0,0,0,0,0,26.20,26.21,26.24
$IRIDIUM_FIX,5955.74,-17228.01,080917,092604
$TT8_MAMPS,0.025466,0.253911
$HUMID,53.38
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.60,72.988
$10V_AH,10.03,65.898
$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,47.125,10.075,62.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,372.656,60.224,123.486,538.494,134.186,0.000,318.739,0.000,319.526,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1213.290,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.227,353.266,279.491,414.351,536.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10836,130
$CAP_FILE_SIZE,24989,0
$CFSIZE,1024409600,896827392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,103338,5948.705,-17133.227,5,0.9,21,8.1,0.4,216.5,9,5.0