version: 66.13
glider: 401
mission: 22
dive: 2616
start: 9 10 117 11 18 50
data:
$ID,401
$MISSION,22
$DIVE,2616
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,100917,103935,5939.8906,-17105.0215,8,0.9,17,8.3,0.3,203.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.7
$GPS2,100917,103935,5939.8906,-17105.0215,8,0.9,17,8.3,0.3,203.8,10,4.8
$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,122.4,11911,-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,-487.5,2382,1963,2388,4092,0.0,0.0,0,23,6.30,0.00,-2.08,0.000,20482,0.021,0.000,1759,1963,2609,2609,4095,0,0,0,0,0,0,26.27,28.83,26.32,10.32,53.97
$GC,30,-1.80,-487.5,1759,1963,2609,4095,0.1,0.0,1,40,0.00,1.20,-4.15,0.000,16900,0.000,1.235,1759,1526,3056,3056,4094,0,0,0,0,0,0,26.54,23.92,26.54,10.37,54.52
$GC,248,-1.80,-487.5,1758,1526,3063,4094,31.7,-13.6,32,258,0.00,1.00,0.00,0.000,1030,0.000,0.028,1759,1954,3063,3063,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.41,53.22
$GC,299,-1.80,-487.5,1758,1954,3064,4095,38.1,-13.0,38,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1954,3064,3064,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.40,51.89
$GC,348,-1.80,-487.5,1759,1954,3065,4094,45.3,-14.8,44,358,0.00,1.10,0.00,0.000,260,0.000,0.045,1759,2375,3066,3066,4095,0,0,0,0,0,0,26.63,26.13,26.64,10.38,51.26
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,427,-0.45,0.0,1759,2120,3067,4095,55.2,-14.0,53,464,4.60,0.00,28.77,1.291,10244,0.054,0.000,2186,2120,2484,2484,4094,0,0,0,0,0,0,26.16,25.20,23.93,10.37,50.31
$STATE,465,end apogee,CONTROL_FINISHED_OK
$STATE,465,begin climb
$GC,471,1.80,487.5,2186,2119,2484,4094,59.9,0.0,57,515,7.60,0.00,28.20,1.258,11270,0.031,0.000,2901,2120,1918,1918,4094,0,0,0,0,0,0,25.68,25.89,23.54,10.25,48.93
$GC,557,1.80,487.5,2900,2119,1917,4094,54.3,11.7,67,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2120,1917,1917,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.12,47.71
$GC,607,1.80,487.5,2900,2119,1915,4094,48.0,12.2,73,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2120,1915,1915,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.11,47.79
$GC,658,1.80,487.5,2900,2118,1914,4094,41.6,12.3,79,667,0.00,1.00,0.00,0.000,516,0.000,0.046,2901,1735,1914,1914,4094,0,0,0,0,0,0,26.07,25.65,26.08,10.11,47.95
$GC,766,1.80,487.5,2900,1734,1911,4094,27.3,13.1,94,776,0.00,1.00,0.00,0.000,1030,0.000,0.031,2901,2140,1911,1911,4094,0,0,0,0,0,0,25.98,25.92,25.98,10.10,48.34
$GC,816,1.80,487.5,2900,2140,1910,4094,20.9,12.8,100,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2141,1909,1909,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.15,49.40
$GC,864,1.80,487.5,2900,2140,1908,4095,15.4,11.2,106,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1908,1908,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.17,50.90
$GC,913,1.80,487.5,2900,2140,1907,4094,10.0,11.2,112,923,0.00,1.05,0.00,0.000,516,0.000,0.046,2900,1736,1906,1906,4094,0,0,0,0,0,0,26.43,26.00,26.44,10.18,52.28
$STATE,982,end climb,SURFACE_DEPTH_REACHED
$STATE,982,begin surface coast
$FINISH,0.0,1.002644
$STATE,999,end surface coast,CONTROL_FINISHED_OK
$STATE,999,begin surface
$SM_CCo,1109,0.00,0.000,0,0,1904,498.85
$SM_GC,1.04,27.88,0.52,0.00,0.020,0.030,0.000,230,1990,1904,-6.59,-1.28,498.85,0,0,0,0,0,0,26.09,26.26,26.15
$IRIDIUM_FIX,5955.74,-17228.01,100917,092256
$TT8_MAMPS,0.025466,0.266644
$HUMID,53.38
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.54,76.489
$10V_AH,9.88,68.684
$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,46.375,7.925,56.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,358.626,60.033,115.869,518.449,128.370,0.000,303.601,0.000,303.660,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1234.710,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.116,336.847,266.637,395.737,516.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10875,124
$CAP_FILE_SIZE,21976,0
$CFSIZE,1024409600,890929152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,113832,5939.290,-17104.172,7,0.9,25,8.3,0.0,150.7,9,4.9