version: 66.13
glider: 401
mission: 22
dive: 2584
start: 9 9 117 22 25 38
data:
$ID,401
$MISSION,22
$DIVE,2584
$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,53
$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
$GPS1,090917,221406,5942.0532,-17113.3145,5,0.8,15,8.3,0.5,155.1,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-32.5
$GPS2,090917,222459,5941.9976,-17113.2969,7,0.8,19,8.3,0.5,80.9,11,5.0
$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,116.5,20445,-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,-487.5,236,1921,1723,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.081,0.000,969,1920,1723,1723,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.22,52.48
$GC,29,-1.80,-487.5,968,1919,1723,4094,0.7,0.0,1,57,8.43,1.35,-12.43,0.000,19204,0.042,1.225,1755,2373,3055,3055,4095,0,0,0,0,0,0,25.95,23.72,26.03,10.23,52.08
$GC,78,-1.80,-487.5,1754,2373,3055,4095,1.5,-3.9,6,87,0.00,1.00,0.00,0.000,1030,0.000,0.032,1756,1975,3056,3056,4095,0,0,0,0,0,0,25.93,25.89,25.96,10.51,52.32
$GC,127,-1.80,-487.5,1754,1975,3057,4095,9.6,-17.0,12,137,0.00,1.10,0.00,0.000,260,0.000,0.047,1755,2377,3057,3057,4094,0,0,0,0,0,0,26.34,25.86,26.35,10.51,51.92
$GC,366,-1.80,-487.5,1754,2377,3064,4094,45.7,-14.3,46,375,0.00,1.08,0.00,0.000,1030,0.000,0.030,1755,1946,3064,3064,4094,0,0,0,0,0,0,26.17,26.13,26.21,10.41,49.29
$GC,415,-1.80,-487.5,1755,1945,3065,4094,53.1,-15.2,52,425,0.00,1.08,0.00,0.000,516,0.000,0.052,1755,1521,3066,3066,4095,0,0,0,0,0,0,26.56,26.04,26.58,10.40,48.66
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,448,-0.45,0.0,1755,2135,3066,4095,56.7,-15.2,54,485,4.65,0.00,28.77,1.278,10244,0.055,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,23.86,10.39,47.79
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,492,1.80,487.5,2185,2135,2484,4094,61.5,0.0,58,537,7.60,0.00,28.35,1.256,11270,0.030,0.000,2900,2135,1918,1918,4094,0,0,0,0,0,0,25.63,25.83,23.51,10.27,46.81
$GC,579,1.80,487.5,2900,2134,1916,4094,55.3,11.9,68,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2135,1916,1916,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.14,45.82
$GC,629,1.80,487.5,2899,2135,1915,4094,49.0,12.4,74,639,0.00,1.12,0.00,0.000,516,0.000,0.046,2900,1713,1915,1915,4094,0,0,0,0,0,0,25.90,25.47,25.91,10.13,46.10
$GC,764,1.80,487.5,2899,1713,1911,4094,32.2,12.3,93,773,0.00,1.02,0.00,0.000,1030,0.000,0.029,2901,2131,1911,1911,4095,0,0,0,0,0,0,25.91,25.88,25.94,10.12,46.85
$GC,814,1.80,487.5,2900,2130,1910,4095,25.9,12.9,99,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1910,1910,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.12,47.32
$GC,862,1.80,487.5,2899,2131,1908,4094,20.3,10.9,105,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1908,1908,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.17,48.85
$GC,911,1.88,536.3,2899,2131,1907,4094,15.3,10.0,111,921,0.17,0.00,4.07,0.445,10246,0.052,0.000,2929,2131,1858,1858,4094,0,0,0,0,0,0,26.17,25.20,24.13,10.19,50.47
$GC,963,1.88,536.3,2928,2131,1857,4094,9.8,11.3,117,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2131,1857,1857,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.19,51.53
$GC,1014,1.94,575.9,2927,2131,1856,4094,4.5,10.2,123,1024,0.00,1.08,3.83,0.361,8708,0.000,0.045,2928,1710,1811,1811,4094,0,0,0,0,0,0,26.45,24.90,24.30,10.20,51.89
$STATE,1032,end climb,FINISH_DEPTH_REACHED
$STATE,1032,begin subsurface finish
$FINISH1,1.6,1.024342,88
$GC,1048,0.13,87.7,2928,2135,1811,4094,1.6,11.1,125,1066,5.57,0.00,-5.18,0.000,20486,0.024,0.000,2381,2139,2380,2380,4094,0,0,0,0,0,0,26.15,25.46,26.20,10.19,52.32
$FINISH2,0.1
$STATE,1067,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1068,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,210830
$TT8_MAMPS,0.025466,0.253911
$HUMID,52.91
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.51,75.571
$10V_AH,9.96,67.953
$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,34.925,11.475,65.025,0.000,0.000,23.997,26.919,282.830,0.000,0.000,20.435,368.267,0.000,113.048,816.244,423.385,0.000,333.586,0.000,312.473,0.000,0.543,0.000
$DEVICE_MAMPS,81.090,1224.765,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.668,345.064,273.101,404.726,530.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10862,127
$CAP_FILE_SIZE,28048,0
$CFSIZE,1024409600,892502016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,222459,5941.998,-17113.297,7,0.8,19,8.3,0.5,80.9,11,5.0