version: 66.13
glider: 401
mission: 22
dive: 2603
start: 9 10 117 5 54 32
data:
$ID,401
$MISSION,22
$DIVE,2603
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,100917,053423,5940.2764,-17111.2480,3,0.8,26,8.3,0.0,11.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.0
$GPS2,100917,053423,5940.2764,-17111.2480,3,0.8,26,8.3,0.0,11.9,10,5.0
$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,111.4,17118,-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,-487.5,2382,1954,2384,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.020,0.000,1825,1954,2384,2384,4094,0,0,0,0,0,0,26.49,28.83,28.83,10.34,52.44
$GC,26,-1.80,-487.5,1825,1954,2384,4094,0.4,0.0,1,40,0.40,1.20,-6.35,0.000,21252,0.036,1.214,1777,2377,3055,3055,4095,0,0,0,0,0,0,26.20,23.94,26.23,10.34,52.55
$GC,58,-1.80,-487.5,1776,2377,3056,4095,1.3,-2.3,5,65,0.00,1.08,0.00,0.000,1030,0.000,0.033,1777,1950,3056,3056,4095,0,0,0,0,0,0,26.08,26.04,26.10,10.48,53.03
$GC,101,-1.80,-487.5,1776,1950,3057,4095,6.9,-15.0,11,107,0.00,1.12,0.00,0.000,260,0.000,0.044,1777,2372,3056,3056,4094,0,0,0,0,0,0,26.45,25.99,26.46,10.48,52.71
$GC,345,-1.80,-487.5,1776,2372,3063,4094,41.2,-12.6,50,351,0.00,1.08,0.00,0.000,1030,0.000,0.031,1777,1941,3063,3063,4094,0,0,0,0,0,0,26.24,26.20,26.27,10.39,50.82
$GC,387,-1.80,-487.5,1776,1941,3064,4094,46.7,-12.9,56,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1941,3064,3064,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.38,50.03
$GC,429,-1.80,-487.5,1776,1941,3065,4095,52.1,-13.0,62,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1941,3065,3065,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.38,50.03
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,461,-0.45,0.0,1777,2143,3066,4095,55.3,-13.6,65,497,4.40,0.00,28.40,1.263,10244,0.053,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.15,25.22,23.97,10.38,49.25
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,504,1.80,487.5,2184,2142,2484,4094,58.9,0.0,71,546,7.60,0.00,28.17,1.234,11270,0.030,0.000,2901,2143,1916,1916,4094,0,0,0,0,0,0,25.70,25.89,23.58,10.25,48.54
$GC,582,1.80,487.5,2900,2143,1915,4094,53.0,12.0,83,588,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1714,1915,1915,4094,0,0,0,0,0,0,25.67,25.29,25.68,10.12,47.48
$GC,715,1.80,487.5,2900,1714,1911,4094,35.4,13.4,104,721,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2122,1911,1911,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.11,48.07
$GC,757,1.80,487.5,2900,2122,1909,4094,29.7,13.1,110,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1909,1909,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.11,48.03
$GC,799,1.80,487.5,2901,2122,1908,4094,24.3,12.7,116,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1908,1908,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.11,48.97
$GC,841,1.83,501.9,2900,2122,1907,4094,19.8,10.6,122,848,0.00,0.00,2.33,0.147,8198,0.000,0.000,2901,2122,1898,1898,4094,0,0,0,0,0,0,26.32,24.99,23.80,10.15,49.40
$GC,883,1.83,501.9,2900,2122,1897,4094,15.3,10.9,128,890,0.00,1.08,0.00,0.000,516,0.000,0.047,2901,1715,1896,1896,4094,0,0,0,0,0,0,26.36,25.90,26.37,10.17,50.90
$GC,998,1.90,548.5,2901,1715,1894,4094,2.7,10.1,146,1006,0.22,1.00,4.12,0.381,11270,0.035,0.031,2933,2127,1844,1844,4095,0,0,0,0,0,0,26.14,26.10,24.24,10.19,53.26
$STATE,1011,end climb,FINISH_DEPTH_REACHED
$STATE,1012,begin subsurface finish
$FINISH1,0.6,1.024330,88
$GC,1026,0.13,88.5,2933,2129,1843,4094,0.6,11.2,148,1040,5.62,0.00,-4.90,0.000,20486,0.021,0.000,2383,2130,2386,2386,4094,0,0,0,0,0,0,26.15,24.41,26.20,10.19,53.34
$FINISH2,0.1
$STATE,1041,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1041,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,041739
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.48
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.58,76.106
$10V_AH,10.29,68.372
$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,23.875,9.675,63.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,396.170,245.111,122.632,217.860,122.643,0.000,279.271,0.000,227.269,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1214.055,1263.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,10769,150
$CAP_FILE_SIZE,24374,0
$CFSIZE,1024409600,891568128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,053423,5940.276,-17111.248,3,0.8,26,8.3,0.0,11.9,10,5.0