version: 66.13
glider: 401
mission: 22
dive: 2586
start: 9 9 117 23 5 13
data:
$ID,401
$MISSION,22
$DIVE,2586
$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,50
$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
$GPS1,090917,222459,5941.9976,-17113.2969,7,0.8,19,8.3,0.5,80.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-1.1
$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,-487.5,2385,1982,2385,4092,0.0,0.0,0,22,6.43,0.00,-1.15,0.000,20482,0.024,0.000,1762,1983,2508,2508,4095,0,0,0,0,0,0,26.13,28.83,26.18,10.32,53.89
$GC,29,-1.80,-487.5,1762,1983,2508,4095,0.1,0.0,1,40,0.00,1.30,-5.00,0.000,16900,0.000,1.227,1762,1526,3056,3056,4095,0,0,0,0,0,0,26.43,23.90,26.44,10.35,53.97
$GC,217,-1.80,-487.5,1762,1525,3062,4095,26.6,-16.7,27,227,0.00,0.95,0.00,0.000,1030,0.000,0.027,1762,1936,3061,3061,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.45,53.66
$GC,269,-1.80,-487.5,1761,1936,3062,4095,34.2,-13.6,33,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1936,3063,3063,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,52.44
$GC,318,-1.80,-487.5,1762,1937,3064,4095,41.3,-14.4,39,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1937,3064,3064,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.39,52.32
$GC,368,-1.80,-487.5,1761,1937,3066,4094,48.3,-14.1,45,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1938,3066,3066,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.38,50.98
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,426,-0.45,0.0,1762,2135,3067,4094,55.4,-14.2,51,469,4.57,0.00,28.65,1.263,10244,0.054,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.12,24.79,23.96,10.38,50.07
$STATE,470,end apogee,CONTROL_FINISHED_OK
$STATE,470,begin climb
$GC,477,1.80,487.5,2185,2135,2483,4094,60.2,0.0,56,521,7.62,0.00,28.38,1.243,11270,0.030,0.000,2900,2135,1915,1915,4094,0,0,0,0,0,0,25.69,25.90,23.56,10.25,48.54
$GC,564,1.80,487.5,2900,2135,1914,4094,53.9,12.0,66,572,0.00,1.12,0.00,0.000,516,0.000,0.046,2900,1719,1914,1914,4094,0,0,0,0,0,0,25.71,25.31,25.72,10.12,48.22
$GC,755,1.80,487.5,2900,1719,1908,4094,30.1,12.5,93,763,0.00,1.00,0.00,0.000,1030,0.000,0.030,2900,2127,1908,1908,4094,0,0,0,0,0,0,25.94,25.90,25.97,10.10,48.42
$GC,804,1.80,487.5,2900,2127,1907,4094,23.6,11.9,99,812,0.00,1.17,0.00,0.000,260,0.000,0.054,2900,2567,1907,1907,4094,0,0,0,0,0,0,26.30,25.82,26.32,10.13,48.81
$GC,872,1.80,487.5,2900,2567,1905,4094,16.4,11.1,108,881,0.00,1.00,0.00,0.000,1030,0.000,0.028,2900,2159,1905,1905,4095,0,0,0,0,0,0,26.10,26.07,26.13,10.17,51.18
$GC,921,1.84,513.1,2900,2159,1904,4095,11.3,10.4,114,931,0.00,0.00,2.83,0.252,8198,0.000,0.000,2900,2159,1883,1883,4094,0,0,0,0,0,0,26.42,24.65,23.99,10.19,52.12
$GC,973,1.95,588.3,2900,2159,1882,4094,6.1,9.6,120,984,0.43,1.15,5.65,0.492,10756,0.031,0.049,2949,1715,1796,1796,4094,0,0,0,0,0,0,26.20,25.44,24.35,10.19,52.63
$STATE,1011,end climb,SURFACE_DEPTH_REACHED
$STATE,1011,begin surface coast
$FINISH,0.6,1.024341
$STATE,1032,end surface coast,CONTROL_FINISHED_OK
$STATE,1033,begin surface
$SM_CCo,1144,0.00,0.000,0,0,1795,592.43
$SM_GC,0.71,28.38,0.57,0.00,0.019,0.031,0.000,231,1984,1795,-6.59,-1.28,592.43,0,0,0,0,0,0,25.94,26.18,26.03
$IRIDIUM_FIX,5955.74,-17228.01,090917,210830
$TT8_MAMPS,0.025466,0.259154
$HUMID,53.07
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.56,75.615
$10V_AH,9.98,67.993
$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,47.425,9.325,65.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,372.549,60.377,121.036,529.101,132.771,0.000,308.411,0.000,313.528,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1227.060,1263.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.781,347.727,275.224,408.253,528.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,10877,128
$CAP_FILE_SIZE,23742,0
$CFSIZE,1024409600,892403712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,232535,5941.461,-17112.621,9,0.8,30,8.3,0.0,195.6,10,4.9