version: 66.13
glider: 401
mission: 22
dive: 2610
start: 9 10 117 8 53 16
data:
$ID,401
$MISSION,22
$DIVE,2610
$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,25
$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
$GPS1,100917,081248,5940.6704,-17108.0273,8,0.8,19,8.3,0.6,69.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.6
$GPS2,100917,081248,5940.6704,-17108.0273,8,0.8,19,8.3,0.6,69.9,10,5.0
$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,119.5,15008,-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,6,begin dive
$GC,12,-1.80,-487.5,2338,1956,2490,4092,0.0,0.0,0,23,5.75,0.00,-2.62,0.000,20482,0.020,0.000,1772,1956,2770,2770,4095,0,0,0,0,0,0,26.23,28.83,26.27,10.35,54.17
$GC,30,-1.80,-487.5,1771,1956,2769,4095,0.1,0.0,1,40,0.00,1.20,-2.70,0.000,16900,0.000,1.230,1772,1532,3053,3053,4095,0,0,0,0,0,0,26.49,23.94,26.48,10.41,54.44
$GC,54,-1.80,-487.5,1771,1532,3053,4095,0.9,-2.4,3,64,0.00,1.00,-0.03,0.000,17414,0.000,0.026,1772,1969,3059,3059,4094,0,0,0,0,0,0,26.13,26.11,25.52,10.47,53.93
$GC,105,-1.80,-487.5,1771,1968,3061,4094,7.8,-15.7,9,114,0.00,1.15,0.00,0.000,516,0.000,0.050,1772,1531,3061,3061,4095,0,0,0,0,0,0,26.29,25.84,26.31,10.47,53.78
$GC,330,-1.80,-487.5,1771,1530,3067,4095,41.2,-13.5,41,338,0.00,0.98,0.00,0.000,1030,0.000,0.027,1772,1947,3068,3068,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.39,51.02
$GC,379,-1.80,-487.5,1771,1947,3068,4095,47.9,-13.9,47,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3069,3069,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.38,50.55
$GC,428,-1.80,-487.5,1771,1947,3070,4094,54.7,-13.9,53,436,0.00,1.10,0.00,0.000,260,0.000,0.046,1772,2367,3070,3070,4095,0,0,0,0,0,0,26.57,26.08,26.58,10.38,50.70
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,460,-0.45,0.0,1771,2121,3071,4095,58.0,-14.4,55,503,4.47,0.00,28.83,1.290,10244,0.054,0.000,2186,2115,2487,2487,4094,0,0,0,0,0,0,26.09,24.75,23.91,10.38,49.33
$STATE,504,end apogee,CONTROL_FINISHED_OK
$STATE,504,begin climb
$GC,511,1.80,487.5,2185,2115,2487,4094,62.7,0.0,60,555,7.62,0.00,28.60,1.271,11270,0.031,0.000,2901,2115,1917,1917,4094,0,0,0,0,0,0,25.66,25.86,23.51,10.25,49.25
$GC,598,1.80,487.5,2900,2115,1915,4094,56.7,11.8,70,607,0.00,1.00,0.00,0.000,516,0.000,0.046,2901,1737,1915,1915,4094,0,0,0,0,0,0,25.68,25.29,25.70,10.12,47.59
$GC,738,1.80,487.5,2900,1736,1911,4094,38.3,12.8,90,748,0.00,0.95,0.00,0.000,1030,0.000,0.030,2901,2124,1911,1911,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.10,47.79
$GC,789,1.80,487.5,2901,2123,1909,4094,32.0,12.6,96,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1910,1910,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.10,48.46
$GC,837,1.80,487.5,2900,2123,1908,4094,26.0,12.4,102,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1908,1908,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.11,48.66
$GC,886,1.80,487.5,2901,2123,1907,4094,20.3,10.9,108,895,0.00,1.02,0.00,0.000,516,0.000,0.046,2901,1736,1907,1907,4094,0,0,0,0,0,0,26.36,25.90,26.37,10.15,49.72
$GC,1033,1.80,487.5,2900,1736,1903,4094,4.3,11.4,129,1042,0.00,0.95,0.00,0.000,1030,0.000,0.032,2901,2126,1903,1903,4094,0,0,0,0,0,0,26.16,26.13,26.19,10.19,53.03
$STATE,1052,end climb,SURFACE_DEPTH_REACHED
$STATE,1052,begin surface coast
$FINISH,0.1,1.012836
$STATE,1067,end surface coast,CONTROL_FINISHED_OK
$STATE,1067,begin surface
$SM_CCo,1177,0.00,0.000,0,0,1902,500.56
$SM_GC,1.06,27.73,0.38,0.00,0.020,0.047,0.000,238,1975,1902,-6.55,2.73,500.56,0,0,0,0,0,0,26.26,26.19,26.29
$IRIDIUM_FIX,5955.74,-17228.01,100917,065754
$TT8_MAMPS,0.025466,0.252413
$HUMID,54.25
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.51,76.320
$10V_AH,9.98,68.548
$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,45.575,10.650,57.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,378.203,60.064,122.796,553.669,133.839,0.000,322.004,0.000,325.787,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1230.120,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.312,361.324,286.010,424.188,552.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,10884,133
$CAP_FILE_SIZE,24281,0
$CFSIZE,1024409600,891224064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,091422,5940.463,-17106.518,4,0.9,41,8.3,0.3,91.3,9,4.9