version: 66.13
glider: 401
mission: 22
dive: 2617
start: 9 10 117 11 52 33
data:
$ID,401
$MISSION,22
$DIVE,2617
$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,49
$R_STBD_OVSHOOT,65
$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
$GPS1,100917,113832,5939.2900,-17104.1719,7,0.9,25,8.3,0.0,150.7,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-43.2
$GPS2,100917,115148,5939.2158,-17104.2598,8,0.7,15,8.3,0.0,253.4,11,4.9
$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,119.7,10567,-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,-487.5,230,1996,1904,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.106,0.000,691,1996,1904,1904,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.26,51.53
$GC,26,-1.80,-487.5,691,1995,1904,4094,1.0,0.0,1,57,11.70,1.30,-10.85,0.000,18948,0.057,1.217,1755,1545,3058,3058,4095,0,0,0,0,0,0,25.94,23.65,25.96,10.26,51.22
$GC,276,-1.80,-487.5,1754,1544,3064,4095,33.2,-13.7,41,283,0.00,0.88,0.00,0.000,1030,0.000,0.027,1755,1923,3064,3064,4094,0,0,0,0,0,0,26.19,26.16,26.21,10.44,50.07
$GC,319,-1.80,-487.5,1755,1923,3065,4094,39.2,-14.4,47,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1923,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.43,49.13
$GC,361,-1.80,-487.5,1754,1924,3067,4094,45.0,-13.5,53,368,0.00,1.15,0.00,0.000,260,0.000,0.043,1755,2367,3067,3067,4095,0,0,0,0,0,0,26.53,26.05,26.54,10.41,49.25
$GC,427,-1.80,-487.5,1755,2367,3068,4095,54.6,-13.5,63,434,0.00,0.98,0.00,0.000,1030,0.000,0.028,1755,1979,3068,3068,4094,0,0,0,0,0,0,26.26,26.23,26.28,10.39,48.38
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,453,-0.45,0.0,1755,2135,3069,4095,57.2,-14.2,65,490,4.65,0.00,28.83,1.287,10244,0.054,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,23.84,10.39,47.83
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,497,1.80,487.5,2185,2135,2484,4094,61.1,0.0,71,539,7.60,0.00,28.38,1.257,11270,0.030,0.000,2901,2136,1915,1915,4094,0,0,0,0,0,0,25.63,25.82,23.47,10.27,47.40
$GC,575,1.80,487.5,2900,2135,1914,4094,55.1,12.1,83,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1914,1914,4095,0,0,0,0,0,0,25.63,25.65,25.64,10.14,46.29
$GC,617,1.80,487.5,2900,2135,1913,4095,49.8,12.6,89,623,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1709,1912,1912,4094,0,0,0,0,0,0,25.84,25.42,25.84,10.14,46.45
$GC,737,1.80,487.5,2900,1708,1909,4094,34.2,13.1,108,744,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2118,1909,1909,4094,0,0,0,0,0,0,25.88,25.84,25.90,10.12,47.16
$GC,780,1.80,487.5,2900,2117,1908,4094,28.9,12.5,114,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1908,1908,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.11,47.87
$GC,821,1.80,487.5,2900,2117,1907,4094,23.5,12.5,120,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1907,1907,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.12,47.63
$GC,863,1.80,487.5,2900,2117,1905,4094,18.4,12.0,126,870,0.00,1.08,0.00,0.000,516,0.000,0.046,2901,1710,1906,1906,4094,0,0,0,0,0,0,26.35,25.88,26.36,10.16,49.40
$GC,972,1.80,487.5,2900,1709,1902,4094,6.8,11.0,143,978,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2123,1902,1902,4094,0,0,0,0,0,0,26.14,26.10,26.16,10.20,52.48
$GC,1014,1.80,487.5,2900,2122,1901,4094,2.2,11.1,149,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1901,1901,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.20,52.59
$STATE,1025,end climb,FINISH_DEPTH_REACHED
$STATE,1025,begin subsurface finish
$FINISH1,0.3,1.024343,88
$GC,1039,0.13,87.6,2901,2123,1900,4095,0.3,11.0,151,1053,5.28,0.00,-4.43,0.000,20486,0.023,0.000,2382,2123,2388,2388,4094,0,0,0,0,0,0,26.20,24.42,26.25,10.21,53.22
$FINISH2,0.2
$STATE,1054,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1054,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,114341
$TT8_MAMPS,0.025466,0.160286
$HUMID,53.11
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.47,76.534
$10V_AH,10.12,68.703
$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,34.850,8.900,57.200,0.000,0.000,53.859,59.639,309.588,0.000,0.000,16.911,403.209,290.068,134.369,584.194,443.358,0.000,302.354,0.000,233.202,0.000,0.543,0.000
$DEVICE_MAMPS,106.335,1217.115,1286.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10801,153
$CAP_FILE_SIZE,29202,0
$CFSIZE,1024409600,890880000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100917,115148,5939.216,-17104.260,8,0.7,15,8.3,0.0,253.4,11,4.9