version: 66.13
glider: 401
mission: 22
dive: 2606
start: 9 10 117 7 22 9
data:
$ID,401
$MISSION,22
$DIVE,2606
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,100917,070158,5940.5576,-17109.7773,4,0.7,15,8.3,0.0,93.6,11,4.8
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.8
$GPS2,100917,070158,5940.5576,-17109.7773,4,0.7,15,8.3,0.0,93.6,11,4.8
$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,115.4,16217,-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,-487.5,2384,1949,2387,4092,0.0,0.0,0,23,6.30,0.00,-2.10,0.000,20482,0.018,0.000,1759,1949,2614,2614,4094,0,0,0,0,0,0,26.27,28.83,26.32,10.34,53.07
$GC,30,-1.80,-487.5,1759,1949,2614,4094,0.3,0.0,1,40,0.00,1.17,-4.07,0.000,16900,0.000,1.234,1759,1523,3055,3055,4094,0,0,0,0,0,0,26.55,23.92,26.55,10.39,52.67
$GC,288,-1.80,-487.5,1759,1523,3062,4094,37.2,-13.9,38,297,0.00,1.02,0.00,0.000,1030,0.000,0.027,1759,1960,3062,3062,4094,0,0,0,0,0,0,26.31,26.28,26.33,10.41,51.53
$GC,337,-1.80,-487.5,1758,1959,3064,4094,44.0,-13.5,44,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1959,3064,3064,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.39,50.43
$GC,386,-1.80,-487.5,1758,1959,3065,4094,50.9,-14.4,50,395,0.00,1.10,0.00,0.000,260,0.000,0.048,1759,2380,3065,3065,4095,0,0,0,0,0,0,26.65,26.13,26.66,10.39,50.35
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,426,-0.45,0.0,1759,2112,3066,4094,55.2,-14.2,53,468,4.60,0.00,28.62,1.263,10244,0.055,0.000,2185,2112,2484,2484,4094,0,0,0,0,0,0,26.15,24.79,23.96,10.38,48.89
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,476,1.80,487.5,2185,2112,2484,4094,59.9,0.0,58,520,7.60,0.00,28.25,1.239,11270,0.030,0.000,2901,2111,1918,1918,4094,0,0,0,0,0,0,25.72,25.94,23.58,10.26,48.42
$GC,562,1.80,487.5,2900,2111,1917,4094,53.6,12.3,68,572,0.00,0.98,0.00,0.000,516,0.000,0.045,2901,1735,1916,1916,4094,0,0,0,0,0,0,25.74,25.35,25.75,10.13,47.08
$GC,679,1.80,487.5,2901,1735,1913,4094,38.2,13.2,84,688,0.00,0.98,0.00,0.000,1030,0.000,0.030,2901,2133,1913,1913,4094,0,0,0,0,0,0,25.82,25.86,25.84,10.12,47.83
$GC,730,1.80,487.5,2901,2132,1912,4094,31.5,13.1,90,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1911,1911,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.11,47.67
$GC,781,1.80,487.5,2900,2132,1910,4094,25.2,12.3,96,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1910,1910,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.12,48.58
$GC,832,1.91,556.0,2901,2132,1909,4094,19.8,9.7,102,843,0.28,1.05,5.22,0.562,10756,0.039,0.046,2937,1735,1835,1835,4094,0,0,0,0,0,0,26.14,25.37,24.15,10.16,49.13
$STATE,982,end climb,FINISH_DEPTH_REACHED
$STATE,982,begin subsurface finish
$FINISH1,1.9,1.024335,88
$GC,998,0.13,88.2,2938,2142,1830,4094,1.9,12.7,123,1016,5.68,0.00,-5.03,0.000,20486,0.022,0.000,2380,2145,2384,2384,4094,0,0,0,0,0,0,26.18,25.48,26.22,10.19,52.59
$FINISH2,0.1
$STATE,1017,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1017,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,065348
$TT8_MAMPS,0.025466,0.258405
$HUMID,52.95
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.58,76.216
$10V_AH,9.90,68.458
$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,24.450,8.400,62.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,355.478,0.000,92.699,520.272,111.491,0.000,278.478,0.000,306.272,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1233.945,1263.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.734,339.608,268.793,398.728,519.233,0.000,0.000,0.000,0.000,0.000
$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,10837,125
$CAP_FILE_SIZE,20061,0
$CFSIZE,1024409600,891420672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,070158,5940.558,-17109.777,4,0.7,15,8.3,0.0,93.6,11,4.8