version: 66.13
glider: 401
mission: 22
dive: 2612
start: 9 10 117 9 50 16
data:
$ID,401
$MISSION,22
$DIVE,2612
$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,34
$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
$GPS1,100917,092929,5940.4277,-17106.3613,11,1.1,23,8.3,0.5,141.9,9,4.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-2.4
$GPS2,100917,092929,5940.4277,-17106.3613,11,1.1,23,8.3,0.5,141.9,9,4.2
$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,122.1,13512,-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,-487.5,2339,1945,2491,4092,0.0,0.0,0,23,5.75,0.00,-2.62,0.000,20482,0.021,0.000,1772,1945,2796,2796,4095,0,0,0,0,0,0,26.30,28.83,26.34,10.36,53.93
$GC,30,-1.80,-487.5,1772,1945,2796,4095,0.4,0.0,1,40,0.00,0.00,-1.88,0.000,16390,0.000,0.000,1772,1945,3056,3056,4095,0,0,0,0,0,0,26.58,25.59,26.53,10.41,53.38
$GC,80,-1.80,-487.5,1772,1945,3057,4095,6.5,-15.0,7,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3057,3057,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.48,53.34
$GC,128,-1.80,-487.5,1771,1945,3059,4095,14.7,-17.3,13,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3059,3059,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.48,53.03
$GC,176,-1.80,-487.5,1772,1945,3060,4095,23.0,-16.8,19,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3060,3060,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.49,53.34
$GC,224,-1.80,-487.5,1771,1945,3061,4094,29.4,-12.9,25,233,0.00,1.05,0.00,0.000,516,0.000,0.051,1772,1530,3062,3062,4095,0,0,0,0,0,0,26.57,26.06,26.58,10.44,52.79
$GC,288,-1.80,-487.5,1772,1530,3063,4095,37.7,-13.4,33,297,0.00,1.02,0.00,0.000,1030,0.000,0.027,1772,1959,3063,3063,4095,0,0,0,0,0,0,26.29,26.27,26.31,10.41,51.49
$GC,339,-1.80,-487.5,1772,1959,3064,4095,44.8,-13.7,39,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1960,3065,3065,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.39,50.07
$GC,389,-1.80,-487.5,1772,1959,3066,4095,51.8,-14.4,45,398,0.00,1.10,0.00,0.000,260,0.000,0.047,1772,2380,3066,3066,4095,0,0,0,0,0,0,26.64,26.14,26.65,10.38,49.44
$STATE,406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,406,begin apogee
$GC,420,-0.45,0.0,1772,2118,3066,4095,55.3,-14.5,47,463,4.45,0.00,28.65,1.267,10244,0.054,0.000,2186,2117,2483,2483,4094,0,0,0,0,0,0,26.15,24.79,23.94,10.38,48.93
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,471,1.80,487.5,2186,2117,2483,4094,59.5,0.0,52,515,7.60,0.00,28.25,1.241,11270,0.030,0.000,2902,2117,1917,1917,4094,0,0,0,0,0,0,25.71,25.94,23.61,10.26,48.26
$GC,557,1.80,487.5,2901,2117,1915,4094,53.4,12.4,62,566,0.00,0.98,0.00,0.000,516,0.000,0.047,2902,1742,1915,1915,4094,0,0,0,0,0,0,25.73,25.35,25.74,10.13,47.20
$GC,711,1.80,487.5,2901,1742,1911,4094,33.1,13.1,84,720,0.00,0.95,0.00,0.000,1030,0.000,0.030,2902,2131,1911,1911,4094,0,0,0,0,0,0,25.88,25.86,25.92,10.11,47.67
$GC,760,1.80,487.5,2902,2130,1910,4094,26.6,12.8,90,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1909,1909,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.10,48.11
$GC,809,1.80,487.5,2901,2130,1908,4094,20.6,11.4,96,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1908,1908,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.15,49.48
$GC,858,1.80,488.3,2901,2131,1907,4094,15.4,10.8,102,868,0.00,1.02,0.00,0.000,516,0.000,0.045,2902,1739,1907,1907,4094,0,0,0,0,0,0,26.39,25.93,26.40,10.18,51.49
$STATE,980,end climb,FINISH_DEPTH_REACHED
$STATE,980,begin subsurface finish
$FINISH1,1.9,1.024339,88
$GC,996,0.13,87.9,2902,2142,1903,4094,1.9,10.4,120,1014,5.35,0.00,-4.40,0.000,20486,0.027,0.000,2383,2141,2386,2386,4095,0,0,0,0,0,0,26.19,25.49,26.25,10.20,53.15
$FINISH2,0.2
$STATE,1015,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1015,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,092113
$TT8_MAMPS,0.026215,0.274134
$HUMID,53.58
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.61,76.386
$10V_AH,9.97,68.597
$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,23.150,8.200,56.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,344.475,0.388,106.616,504.260,122.525,0.000,308.201,0.000,299.149,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,51.255,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.208,331.404,262.346,389.047,503.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10905,122
$CAP_FILE_SIZE,22498,0
$CFSIZE,1024409600,891125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,092929,5940.428,-17106.361,11,1.1,23,8.3,0.5,141.9,9,4.2