version: 66.13
glider: 401
mission: 22
dive: 2592
start: 9 10 117 1 31 41
data:
$ID,401
$MISSION,22
$DIVE,2592
$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,49
$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
$GPS1,100917,005140,5940.7832,-17112.3359,7,0.8,15,8.3,0.0,252.0,10,4.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.7
$GPS2,100917,005140,5940.7832,-17112.3359,7,0.8,15,8.3,0.0,252.0,10,4.6
$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,112.3,18471,-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,-487.5,2384,1971,2386,4092,0.0,0.0,0,24,6.35,0.00,-2.08,0.000,20482,0.024,0.000,1766,1974,2607,2607,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.33,54.13
$GC,30,-1.80,-487.5,1765,1970,2606,4094,0.1,0.0,1,41,0.00,1.12,-4.25,0.000,16644,0.000,1.216,1765,2360,3057,3057,4094,0,0,0,0,0,0,26.45,23.91,26.45,10.37,54.76
$GC,302,-1.80,-487.5,1764,2361,3063,4094,34.6,-11.9,40,311,0.00,1.02,0.00,0.000,1030,0.000,0.031,1765,1953,3064,3064,4094,0,0,0,0,0,0,26.22,26.17,26.24,10.41,52.67
$GC,352,-1.80,-487.5,1764,1953,3065,4094,41.1,-13.2,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1953,3065,3065,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.39,51.73
$GC,400,-1.80,-487.5,1764,1953,3066,4094,47.6,-13.8,52,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1953,3066,3066,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.38,50.63
$GC,449,-1.80,-487.5,1764,1953,3067,4095,54.4,-14.1,58,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1953,3068,3068,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.38,49.92
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,479,-0.45,0.0,1765,2125,3068,4094,57.5,-13.8,60,516,4.53,0.00,28.73,1.281,10244,0.054,0.000,2185,2125,2484,2484,4095,0,0,0,0,0,0,26.15,25.20,23.94,10.38,49.72
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,523,1.80,487.5,2185,2124,2484,4095,61.5,0.0,64,568,7.60,0.00,28.38,1.259,11270,0.030,0.000,2902,2125,1917,1917,4095,0,0,0,0,0,0,25.67,25.88,23.54,10.25,48.58
$GC,610,1.80,487.5,2902,2124,1915,4095,55.4,12.3,74,618,0.00,1.10,0.00,0.000,516,0.000,0.046,2902,1715,1915,1915,4094,0,0,0,0,0,0,25.70,25.31,25.71,10.12,47.79
$GC,743,1.80,487.5,2901,1715,1912,4094,37.6,13.3,93,753,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2122,1911,1911,4094,0,0,0,0,0,0,25.84,25.81,25.87,10.10,47.87
$GC,793,1.80,487.5,2902,2121,1910,4094,31.0,13.0,99,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1910,1910,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.10,48.58
$GC,842,1.80,487.5,2901,2121,1908,4094,24.4,12.8,105,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1908,1908,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.11,48.85
$GC,891,1.88,537.4,2901,2121,1907,4094,19.1,10.0,111,901,0.15,0.00,4.15,0.476,10246,0.057,0.000,2927,2122,1857,1857,4094,0,0,0,0,0,0,26.13,25.20,24.10,10.15,49.92
$GC,942,1.88,537.4,2927,2121,1856,4094,13.6,11.6,117,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2122,1855,1855,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.17,51.65
$GC,993,1.88,537.4,2927,2122,1854,4094,7.8,11.4,123,1002,0.00,1.10,0.00,0.000,516,0.000,0.051,2927,1711,1854,1854,4094,0,0,0,0,0,0,26.41,25.92,26.42,10.18,52.24
$STATE,1038,end climb,SURFACE_DEPTH_REACHED
$STATE,1038,begin surface coast
$FINISH,0.3,1.024340
$STATE,1052,end surface coast,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$SM_CCo,1163,0.00,0.000,0,0,1851,543.49
$SM_GC,0.79,27.95,0.57,0.00,0.020,0.031,0.000,238,1986,1851,-6.55,-1.59,543.49,0,0,0,0,0,0,26.22,26.22,26.25
$IRIDIUM_FIX,5955.74,-17228.01,100917,004305
$TT8_MAMPS,0.025466,0.256907
$HUMID,53.42
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.54,75.791
$10V_AH,10.00,68.132
$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,46.575,6.900,61.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.328,60.297,119.707,545.948,133.200,0.000,314.890,0.000,320.102,0.000,0.543,0.000
$DEVICE_MAMPS,57.375,1215.585,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.898,355.898,281.693,417.798,545.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,14350,131
$CAP_FILE_SIZE,23465,0
$CFSIZE,1024409600,892108800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,015209,5940.305,-17112.332,8,0.9,17,8.3,0.3,286.0,10,4.7