version: 66.13
glider: 401
mission: 22
dive: 2618
start: 9 10 117 12 12 20
data:
$ID,401
$MISSION,22
$DIVE,2618
$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,26
$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
$GPS1,100917,115148,5939.2158,-17104.2598,8,0.7,15,8.3,0.0,253.4,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.3
$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,-487.5,2382,1941,2388,4092,0.0,0.0,0,22,6.32,0.00,-1.20,0.000,20482,0.025,0.000,1763,1941,2517,2517,4095,0,0,0,0,0,0,26.25,28.83,26.30,10.33,53.89
$GC,29,-1.80,-487.5,1763,1940,2517,4095,0.1,0.0,1,39,0.00,1.20,-5.15,0.000,16900,0.000,1.239,1763,1522,3057,3057,4095,0,0,0,0,0,0,26.55,23.92,26.55,10.36,53.34
$GC,248,-1.80,-487.5,1762,1522,3063,4095,31.0,-13.8,32,257,0.00,1.02,0.00,0.000,1030,0.000,0.028,1763,1958,3064,3064,4094,0,0,0,0,0,0,26.30,26.28,26.33,10.41,52.63
$GC,298,-1.80,-487.5,1762,1958,3065,4094,37.8,-14.1,38,307,0.00,1.08,0.00,0.000,260,0.000,0.047,1762,2370,3065,3065,4095,0,0,0,0,0,0,26.62,26.12,26.63,10.40,52.24
$GC,380,-1.80,-487.5,1762,2369,3067,4095,49.6,-14.5,49,389,0.00,1.02,0.00,0.000,1030,0.000,0.028,1762,1957,3067,3067,4094,0,0,0,0,0,0,26.34,26.32,26.36,10.38,50.51
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,431,-0.45,0.0,1762,2136,3068,4094,55.7,-13.8,54,474,4.55,0.00,28.60,1.295,10244,0.054,0.000,2185,2136,2488,2488,4094,0,0,0,0,0,0,26.17,24.80,23.94,10.38,49.29
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,475,begin climb
$GC,481,1.80,487.5,2185,2136,2489,4094,60.4,0.0,59,526,7.60,0.00,28.62,1.260,11270,0.030,0.000,2901,2137,1915,1915,4094,0,0,0,0,0,0,25.72,25.94,23.55,10.25,49.05
$GC,568,1.80,487.5,2901,2136,1914,4094,53.9,12.4,69,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1914,1914,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.13,47.32
$GC,619,1.80,487.5,2901,2136,1912,4094,47.3,13.5,75,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1912,1912,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.12,47.51
$GC,669,1.80,487.5,2901,2136,1911,4094,40.9,12.6,81,679,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1715,1912,1912,4094,0,0,0,0,0,0,26.08,25.64,26.08,10.11,47.59
$GC,810,1.80,487.5,2901,1714,1907,4094,22.7,12.5,101,820,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2124,1907,1907,4094,0,0,0,0,0,0,26.03,25.97,26.03,10.13,48.89
$GC,861,1.82,500.1,2901,2123,1906,4094,17.4,10.6,107,870,0.00,0.00,0.38,0.003,8198,0.000,0.000,2902,2124,1906,1906,4094,0,0,0,0,0,0,26.38,26.36,26.36,10.16,51.06
$GC,910,1.82,500.1,2901,2123,1904,4094,12.0,10.9,113,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1904,1904,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.18,51.73
$GC,959,1.82,500.1,2901,2123,1903,4094,6.6,11.3,119,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1902,1902,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.19,52.67
$STATE,994,end climb,FINISH_DEPTH_REACHED
$STATE,994,begin subsurface finish
$FINISH1,1.9,1.024345,87
$GC,1009,0.13,87.4,2901,2123,1901,4095,1.9,11.4,124,1027,5.30,1.20,-4.45,0.000,20996,0.023,1.222,2379,1711,2387,2387,4094,0,0,0,0,0,0,26.20,23.86,26.25,10.20,53.34
$FINISH2,0.1
$STATE,1028,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1028,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,114341
$TT8_MAMPS,0.025466,0.267393
$HUMID,53.30
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.55,76.555
$10V_AH,9.97,68.732
$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,23.775,8.575,57.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,352.128,0.000,99.037,523.476,117.421,0.000,294.956,0.000,308.423,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1238.535,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.165,342.292,270.936,401.909,521.816,0.000,0.000,0.000,0.000,0.000
$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,10924,126
$CAP_FILE_SIZE,21109,0
$CFSIZE,1024409600,890830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,115148,5939.216,-17104.260,8,0.7,15,8.3,0.0,253.4,11,4.9