version: 66.13
glider: 401
mission: 22
dive: 2588
start: 9 9 117 23 57 7
data:
$ID,401
$MISSION,22
$DIVE,2588
$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,11
$R_STBD_OVSHOOT,39
$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
$GPS1,090917,233711,5941.4023,-17112.6914,7,0.8,19,8.3,0.0,224.6,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.4
$GPS2,090917,233711,5941.4023,-17112.6914,7,0.8,19,8.3,0.0,224.6,10,5.0
$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,114.8,19359,-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,-487.5,2379,1963,2389,4092,0.0,0.0,0,23,6.15,0.00,-2.25,0.000,20482,0.022,0.000,1773,1965,2626,2626,4094,0,0,0,0,0,0,26.27,28.83,26.31,10.34,53.11
$GC,30,-1.80,-487.5,1773,1964,2626,4094,0.1,0.0,1,40,0.00,1.27,-4.12,0.000,16900,0.000,1.240,1773,1511,3055,3055,4095,0,0,0,0,0,0,26.53,23.94,26.52,10.38,52.75
$GC,229,-1.80,-487.5,1772,1511,3061,4095,25.6,-15.3,29,238,0.00,1.02,0.00,0.000,1030,0.000,0.026,1773,1949,3061,3061,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.47,52.71
$GC,279,-1.80,-487.5,1773,1949,3062,4095,32.1,-11.5,35,289,0.00,1.10,0.00,0.000,260,0.000,0.047,1773,2374,3062,3062,4094,0,0,0,0,0,0,26.59,26.10,26.60,10.42,52.67
$GC,356,-1.80,-487.5,1772,2374,3064,4094,41.9,-13.2,45,365,0.00,1.10,0.00,0.000,1030,0.000,0.031,1773,1935,3064,3064,4094,0,0,0,0,0,0,26.26,26.22,26.29,10.40,50.47
$GC,407,-1.80,-487.5,1772,1934,3065,4094,48.6,-13.6,51,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1934,3065,3065,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.39,49.29
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,466,-0.45,0.0,1772,2138,3066,4094,55.5,-13.7,57,509,4.45,0.00,28.55,1.259,10244,0.054,0.000,2186,2138,2485,2485,4094,0,0,0,0,0,0,26.16,24.81,23.99,10.38,48.74
$STATE,510,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,516,1.80,487.5,2185,2137,2486,4094,60.1,0.0,62,562,7.57,1.12,28.27,1.242,10500,0.030,0.052,2903,2555,1917,1917,4094,0,0,0,0,0,0,25.59,25.53,23.62,10.26,47.95
$GC,576,1.96,589.6,2902,2554,1917,4094,56.9,9.2,68,595,0.40,1.08,7.50,0.949,11270,0.024,0.025,2946,2131,1798,1798,4094,0,0,0,0,0,0,25.33,25.29,23.55,10.14,47.16
$GC,637,1.96,589.6,2946,2131,1796,4094,48.9,13.7,75,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2131,1796,1796,4095,0,0,0,0,0,0,25.77,25.79,25.79,10.10,46.73
$GC,688,1.96,589.6,2947,2131,1795,4095,41.7,14.5,81,697,0.00,1.08,0.00,0.000,516,0.000,0.048,2948,1721,1795,1795,4094,0,0,0,0,0,0,25.96,25.55,25.98,10.10,47.12
$GC,810,1.96,589.6,2947,1720,1790,4094,24.2,14.2,98,819,0.00,0.98,0.00,0.000,1030,0.000,0.030,2947,2119,1790,1790,4094,0,0,0,0,0,0,25.93,25.92,25.96,10.10,48.34
$GC,859,1.96,589.6,2947,2118,1789,4094,17.9,12.2,104,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2119,1788,1788,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.15,49.88
$GC,908,1.96,589.6,2947,2118,1787,4094,11.8,12.2,110,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2119,1788,1788,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.17,51.26
$GC,957,1.96,589.6,2947,2118,1786,4094,5.8,12.2,116,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2119,1785,1785,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.17,51.96
$STATE,986,end climb,FINISH_DEPTH_REACHED
$STATE,986,begin subsurface finish
$FINISH1,1.4,1.024345,87
$GC,1001,0.13,87.4,2947,2119,1784,4094,1.4,12.6,120,1020,5.80,0.00,-5.45,0.000,20486,0.024,0.000,2381,2120,2388,2388,4094,0,0,0,0,0,0,26.15,25.46,26.20,10.18,52.52
$FINISH2,0.2
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,221902
$TT8_MAMPS,0.025466,0.246421
$HUMID,52.52
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.55,75.680
$10V_AH,9.98,68.041
$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,24.375,9.850,64.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,345.803,0.000,106.975,509.559,121.744,0.000,312.215,0.000,300.288,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1240.065,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.057,331.532,262.325,388.851,508.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330720
$DATA_FILE_SIZE,10850,122
$CAP_FILE_SIZE,22219,0
$CFSIZE,1024409600,892305408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,233711,5941.402,-17112.691,7,0.8,19,8.3,0.0,224.6,10,5.0