version: 66.13
glider: 401
mission: 22
dive: 2562
start: 9 9 117 13 17 19
data:
$ID,401
$MISSION,22
$DIVE,2562
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,090917,123625,5943.3354,-17119.3184,6,0.8,14,8.2,0.5,200.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.5
$GPS2,090917,123625,5943.3354,-17119.3184,6,0.8,14,8.2,0.5,200.0,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W24S
$TGT_LATLONG,5935.700,-17055.381
$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,114.0,26521,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,13,-1.80,-487.5,2380,1946,2388,4092,0.0,0.0,0,23,6.28,0.00,-2.10,0.000,20482,0.020,0.000,1765,1947,2611,2611,4095,0,0,0,0,0,0,26.22,28.83,26.27,10.33,53.85
$GC,30,-1.80,-487.5,1764,1946,2611,4095,0.0,0.0,1,40,0.00,1.25,-3.85,0.000,16644,0.000,1.223,1765,2380,3055,3055,4095,0,0,0,0,0,0,26.53,23.95,26.53,10.38,53.89
$GC,282,-1.80,-487.5,1764,2380,3063,4095,36.1,-13.1,37,292,0.00,1.08,0.00,0.000,1030,0.000,0.031,1765,1948,3063,3063,4094,0,0,0,0,0,0,26.28,26.20,26.27,10.41,52.40
$GC,332,-1.80,-487.5,1764,1948,3063,4094,42.6,-13.2,43,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1948,3063,3063,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.40,51.49
$GC,381,-1.80,-487.5,1764,1948,3065,4095,49.2,-13.5,49,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1948,3065,3065,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.39,50.15
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,438,-0.45,0.0,1764,2148,3066,4094,55.9,-13.8,55,474,4.55,0.00,28.65,1.265,10244,0.055,0.000,2186,2148,2484,2484,4095,0,0,0,0,0,0,26.16,25.23,23.99,10.38,49.40
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,475,begin climb
$GC,481,1.80,487.5,2186,2148,2484,4095,60.0,0.0,59,525,7.57,0.00,28.23,1.238,11270,0.030,0.000,2900,2148,1917,1917,4094,0,0,0,0,0,0,25.69,25.90,23.61,10.26,48.85
$GC,567,1.80,487.5,2900,2148,1916,4094,53.3,12.7,69,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1916,1916,4094,0,0,0,0,0,0,25.72,25.73,25.72,10.13,48.11
$GC,618,1.80,487.5,2899,2147,1914,4094,46.6,12.9,75,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1914,1914,4095,0,0,0,0,0,0,25.92,25.94,25.94,10.12,47.83
$GC,667,1.80,487.5,2899,2148,1913,4095,39.9,13.6,81,676,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1717,1913,1913,4094,0,0,0,0,0,0,26.06,25.63,26.07,10.12,48.07
$GC,816,1.87,533.0,2900,1717,1909,4094,21.4,10.1,102,827,0.15,1.00,4.03,0.477,11270,0.040,0.029,2925,2127,1862,1862,4094,0,0,0,0,0,0,25.97,25.97,24.08,10.16,48.85
$GC,870,1.88,539.8,2925,2127,1861,4094,15.9,10.7,108,879,0.00,0.00,2.22,0.109,8198,0.000,0.000,2925,2127,1853,1853,4095,0,0,0,0,0,0,26.34,24.75,24.08,10.17,51.22
$GC,921,1.88,539.8,2925,2127,1852,4095,10.0,12.5,114,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2128,1852,1852,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.18,52.52
$GC,970,1.88,539.8,2925,2127,1851,4094,3.9,12.5,120,980,0.00,1.08,0.00,0.000,516,0.000,0.047,2926,1719,1850,1850,4094,0,0,0,0,0,0,26.43,25.96,26.44,10.19,53.26
$STATE,987,end climb,SURFACE_DEPTH_REACHED
$STATE,987,begin surface coast
$FINISH,0.1,1.024230
$STATE,1002,end surface coast,CONTROL_FINISHED_OK
$STATE,1002,begin surface
$SM_CCo,1112,0.00,0.000,0,0,1850,545.21
$SM_GC,0.96,28.05,0.57,0.00,0.021,0.033,0.000,237,1979,1850,-6.55,-0.96,545.21,0,0,0,0,0,0,26.21,26.18,26.24
$IRIDIUM_FIX,5955.74,-17228.01,090917,111746
$TT8_MAMPS,0.025466,0.253162
$HUMID,53.81
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.61,74.917
$10V_AH,10.01,67.435
$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,46.600,7.100,63.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,363.676,59.691,115.975,517.909,125.853,0.000,302.495,0.000,303.836,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1223.235,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.081,336.881,266.645,395.350,515.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,10857,124
$CAP_FILE_SIZE,22664,0
$CFSIZE,1024409600,893583360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,133652,5942.808,-17119.404,9,0.7,13,8.2,0.5,209.5,12,4.9