version: 66.13
glider: 401
mission: 22
dive: 2582
start: 9 9 117 21 34 40
data:
$ID,401
$MISSION,22
$DIVE,2582
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,090917,211443,5942.4561,-17114.4727,9,0.8,18,8.3,0.3,217.1,10,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.2
$GPS2,090917,211443,5942.4561,-17114.4727,9,0.8,18,8.3,0.3,217.1,10,4.9
$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,116.7,21835,-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,-487.5,2388,1952,2387,4092,0.0,0.0,0,23,6.35,0.00,-2.08,0.000,20482,0.018,0.000,1760,1952,2607,2607,4094,0,0,0,0,0,0,26.26,28.83,26.30,10.34,53.22
$GC,30,-1.80,-487.5,1760,1952,2607,4094,0.3,0.0,1,40,0.00,1.25,-4.25,0.000,17156,0.000,1.218,1760,2381,3060,3060,4095,0,0,0,0,0,0,26.53,23.92,26.53,10.38,53.30
$GC,302,-1.80,-487.5,1759,2382,3066,4095,32.4,-12.2,40,312,0.00,1.10,0.00,0.000,1030,0.000,0.031,1760,1942,3066,3066,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.43,52.48
$GC,354,-1.80,-487.5,1759,1941,3067,4094,39.4,-13.9,46,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1941,3067,3067,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.40,50.59
$GC,404,-1.80,-487.5,1759,1941,3068,4095,46.0,-12.3,52,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1941,3069,3069,4095,0,0,0,0,0,0,26.64,26.66,26.65,10.39,49.96
$GC,455,-1.80,-487.5,1759,1941,3070,4095,52.8,-14.1,58,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1942,3070,3070,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.38,49.80
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,484,-0.45,0.0,1759,2144,3070,4094,56.2,-14.6,60,528,4.60,0.00,28.75,1.271,10244,0.055,0.000,2185,2144,2486,2486,4094,0,0,0,0,0,0,26.17,24.83,23.96,10.38,48.93
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,535,1.80,487.5,2185,2144,2485,4094,60.8,0.0,65,579,7.60,1.10,28.45,1.249,10500,0.030,0.051,2907,2557,1916,1916,4094,0,0,0,0,0,0,25.59,25.56,23.58,10.25,48.30
$GC,594,1.94,580.3,2906,2557,1915,4094,57.6,9.4,71,612,0.32,1.08,7.05,0.934,11270,0.025,0.026,2945,2130,1807,1807,4094,0,0,0,0,0,0,25.32,25.30,23.54,10.13,47.24
$GC,654,1.94,580.3,2944,2129,1806,4094,49.8,13.9,78,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2130,1805,1805,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.10,46.88
$GC,704,1.94,580.3,2944,2130,1804,4094,42.7,14.2,84,713,0.00,1.08,0.00,0.000,516,0.000,0.047,2945,1719,1803,1803,4094,0,0,0,0,0,0,25.96,25.54,25.97,10.09,47.16
$GC,800,1.94,580.3,2944,1719,1802,4094,29.1,14.1,97,809,0.00,1.00,0.00,0.000,1030,0.000,0.031,2945,2124,1801,1801,4094,0,0,0,0,0,0,25.88,25.84,25.90,10.09,47.71
$GC,849,1.94,580.3,2944,2123,1799,4094,21.9,14.1,103,859,0.00,1.20,0.00,0.000,260,0.000,0.057,2945,2565,1799,1799,4094,0,0,0,0,0,0,26.26,25.76,26.27,10.13,48.58
$GC,906,1.94,580.3,2944,2565,1797,4094,15.2,11.6,110,915,0.00,0.95,0.00,0.000,1030,0.000,0.027,2945,2175,1797,1797,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.16,50.55
$GC,955,1.94,580.3,2944,2175,1796,4094,8.8,13.4,116,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2175,1795,1795,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.16,51.77
$GC,1004,1.94,580.3,2944,2173,1794,4094,2.5,12.7,122,1013,0.00,1.17,0.00,0.000,516,0.000,0.046,2945,1717,1794,1794,4094,0,0,0,0,0,0,26.43,25.94,26.44,10.18,53.03
$STATE,1021,end climb,FINISH_DEPTH_REACHED
$STATE,1021,begin subsurface finish
$FINISH1,0.1,1.002986,0
$GC,1038,0.00,0.0,2945,2152,1794,4094,0.1,11.4,124,1057,6.05,1.23,-6.32,0.000,20996,0.022,1.219,2352,1719,2488,2488,4094,0,0,0,0,0,0,26.16,23.82,26.21,10.18,52.67
$FINISH2,0.1
$STATE,1058,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,210649
$TT8_MAMPS,0.026964,0.257656
$HUMID,53.03
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.54,75.507
$10V_AH,9.98,67.905
$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,24.925,13.200,64.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,358.978,0.383,111.193,523.671,127.440,0.000,321.992,0.000,308.827,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1218.645,1271.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.809,342.363,270.935,401.662,521.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,10861,126
$CAP_FILE_SIZE,23902,0
$CFSIZE,1024409600,892600320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,211443,5942.456,-17114.473,9,0.8,18,8.3,0.3,217.1,10,4.9