version: 66.13
glider: 401
mission: 22
dive: 2607
start: 9 10 117 7 41 19
data:
$ID,401
$MISSION,22
$DIVE,2607
$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,37
$R_STBD_OVSHOOT,32
$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,0.13
$_SM_ANGLEo,-3.0
$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,-487.5,2380,1958,2384,4092,0.0,0.0,0,20,5.57,0.00,0.00,0.000,4097,0.023,0.000,1830,1958,2384,2384,4094,0,0,0,0,0,0,26.49,28.83,28.83,10.33,53.34
$GC,27,-1.80,-487.5,1830,1958,2384,4094,0.1,0.0,1,40,0.45,1.15,-6.32,0.000,20996,0.037,1.232,1778,1533,3056,3056,4095,0,0,0,0,0,0,26.18,23.92,26.21,10.33,53.50
$GC,278,-1.80,-487.5,1777,1532,3062,4095,32.8,-12.7,41,285,0.00,0.98,0.00,0.000,1030,0.000,0.027,1778,1951,3062,3062,4095,0,0,0,0,0,0,26.28,26.25,26.30,10.43,52.83
$GC,321,-1.80,-487.5,1777,1951,3063,4095,38.0,-12.1,47,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1951,3063,3063,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.41,52.08
$GC,362,-1.80,-487.5,1777,1951,3064,4094,43.3,-12.6,53,369,0.00,1.10,0.00,0.000,260,0.000,0.047,1778,2370,3064,3064,4095,0,0,0,0,0,0,26.61,26.11,26.62,10.39,51.37
$GC,447,-1.80,-487.5,1777,2370,3066,4095,54.3,-13.2,66,453,0.00,1.00,0.00,0.000,1030,0.000,0.030,1778,1971,3066,3066,4095,0,0,0,0,0,0,26.31,26.28,26.34,10.38,49.96
$STATE,458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,458,begin apogee
$GC,472,-0.45,0.0,1777,2144,3067,4095,56.7,-13.4,68,508,4.38,0.00,28.60,1.268,10244,0.053,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.15,25.22,23.96,10.38,49.80
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,516,1.80,487.5,2184,2144,2484,4094,60.3,0.0,74,558,7.60,0.00,28.25,1.242,11270,0.030,0.000,2900,2144,1915,1915,4094,0,0,0,0,0,0,25.70,25.89,23.57,10.25,48.77
$GC,594,1.80,487.5,2899,2144,1915,4094,54.6,11.8,86,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2144,1915,1915,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.13,48.07
$GC,635,1.80,487.5,2899,2144,1913,4094,49.1,13.1,92,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2144,1913,1913,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.12,47.75
$GC,677,1.80,487.5,2899,2144,1912,4094,43.6,13.4,98,683,0.00,1.17,0.00,0.000,516,0.000,0.046,2900,1706,1912,1912,4094,0,0,0,0,0,0,26.01,25.58,26.01,10.11,48.77
$GC,762,1.80,487.5,2899,1706,1910,4094,32.4,13.2,111,768,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2124,1910,1910,4094,0,0,0,0,0,0,25.90,25.86,25.91,10.10,49.01
$GC,804,1.80,487.5,2899,2123,1908,4094,26.9,12.8,117,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1908,1908,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.10,49.29
$GC,846,1.80,487.5,2899,2124,1907,4094,22.0,11.3,123,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2123,1907,1907,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.14,49.64
$GC,888,1.85,519.1,2899,2123,1906,4094,17.7,10.3,129,896,0.10,1.10,3.20,0.346,10756,0.074,0.046,2919,1709,1878,1878,4094,0,0,0,0,0,0,26.15,25.25,24.00,10.17,50.74
$GC,1021,1.85,519.1,2919,1708,1874,4094,3.0,11.5,149,1028,0.00,1.02,0.00,0.000,1030,0.000,0.028,2919,2133,1874,1874,4094,0,0,0,0,0,0,26.17,26.12,26.17,10.19,53.62
$STATE,1033,end climb,SURFACE_DEPTH_REACHED
$STATE,1033,begin surface coast
$FINISH,0.1,1.022348
$STATE,1047,end surface coast,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$SM_CCo,1157,0.00,0.000,0,0,1873,525.46
$SM_GC,1.03,28.10,0.47,0.00,0.020,0.044,0.000,230,1944,1873,-6.59,1.32,525.46,0,0,0,0,0,0,25.95,26.14,26.06
$IRIDIUM_FIX,5955.74,-17228.01,100917,065348
$TT8_MAMPS,0.025466,0.109354
$HUMID,53.97
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.57,76.237
$10V_AH,10.30,68.469
$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,46.200,9.900,60.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,409.201,316.231,142.528,221.565,139.236,0.000,299.667,0.000,231.515,0.000,0.542,0.000
$DEVICE_MAMPS,74.205,1232.415,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,10744,153
$CAP_FILE_SIZE,25511,0
$CFSIZE,1024409600,891371520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,080142,5940.658,-17108.168,4,0.8,19,8.3,0.0,52.2,10,4.8