version: 66.13
glider: 401
mission: 22
dive: 2590
start: 9 10 117 0 52 20
data:
$ID,401
$MISSION,22
$DIVE,2590
$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,20
$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
$GPS1,100917,003631,5940.8696,-17112.1777,9,0.8,42,8.3,0.7,125.1,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-40.3
$GPS2,100917,005140,5940.7832,-17112.3359,7,0.8,15,8.3,0.0,252.0,10,4.6
$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,112.3,18471,-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,-487.5,237,1956,1842,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.086,0.000,959,1957,1843,1843,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.25,52.36
$GC,29,-1.80,-487.5,959,1956,1843,4094,0.6,0.0,1,57,8.48,1.25,-11.43,0.000,18948,0.039,1.218,1754,1520,3056,3056,4094,0,0,0,0,0,0,25.84,23.65,25.94,10.26,51.89
$GC,265,-1.80,-487.5,1754,1520,3062,4094,28.9,-15.1,34,275,0.00,0.93,0.00,0.000,1030,0.000,0.025,1754,1920,3062,3062,4094,0,0,0,0,0,0,26.18,26.14,26.18,10.49,50.94
$GC,315,-1.80,-487.5,1753,1921,3063,4094,35.5,-13.2,40,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1921,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.45,49.84
$GC,365,-1.80,-487.5,1753,1920,3064,4095,42.2,-13.7,46,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1921,3065,3065,4095,0,0,0,0,0,0,26.52,26.54,26.54,10.43,48.42
$GC,414,-1.80,-487.5,1754,1921,3066,4095,49.0,-14.3,52,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1922,3066,3066,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.41,47.75
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,464,-0.45,0.0,1754,2139,3067,4095,55.0,-14.1,57,501,4.65,0.00,28.75,1.256,10244,0.054,0.000,2185,2139,2485,2485,4094,0,0,0,0,0,0,26.08,25.15,23.89,10.40,47.55
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,508,1.80,487.5,2184,2139,2484,4094,59.4,0.0,61,553,7.62,0.00,28.30,1.233,11270,0.029,0.000,2902,2139,1915,1915,4094,0,0,0,0,0,0,25.64,25.84,23.53,10.29,46.77
$GC,595,1.80,487.5,2901,2138,1914,4094,52.6,12.3,71,605,0.00,1.17,0.00,0.000,516,0.000,0.045,2901,1706,1914,1914,4094,0,0,0,0,0,0,25.70,25.34,25.71,10.15,45.66
$GC,762,1.80,487.5,2901,1705,1909,4094,30.3,13.5,95,772,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2124,1909,1909,4094,0,0,0,0,0,0,25.90,25.85,25.93,10.13,47.24
$GC,812,1.80,487.5,2901,2123,1907,4094,23.8,12.9,101,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1908,1908,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.15,47.79
$GC,861,1.86,527.6,2901,2123,1906,4094,18.8,10.2,107,871,0.10,0.00,3.65,0.416,10246,0.076,0.000,2923,2124,1868,1868,4094,0,0,0,0,0,0,26.13,24.71,24.03,10.18,48.54
$GC,913,1.86,527.6,2922,2124,1867,4094,13.4,11.1,113,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2124,1867,1867,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.20,50.59
$GC,963,1.86,527.6,2922,2124,1866,4094,7.5,11.8,119,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2124,1865,1865,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.20,51.22
$STATE,1007,end climb,FINISH_DEPTH_REACHED
$STATE,1008,begin subsurface finish
$FINISH1,1.5,1.024348,87
$GC,1022,0.13,87.2,2923,2125,1864,4094,1.5,11.8,125,1041,5.53,0.00,-4.75,0.000,20998,0.022,0.000,2382,2132,2387,2387,4094,0,0,0,0,0,0,26.15,25.47,26.21,10.21,51.65
$FINISH2,0.1
$STATE,1042,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1042,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,004305
$TT8_MAMPS,0.026215,0.250166
$HUMID,51.92
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.53,75.748
$10V_AH,9.95,68.091
$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,34.850,5.000,60.700,0.000,0.000,87.919,54.393,337.596,0.000,0.000,16.280,363.289,90.222,103.742,954.973,439.963,0.000,315.590,0.000,312.278,0.000,0.543,0.000
$DEVICE_MAMPS,86.445,1217.880,1256.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.742,345.039,273.070,404.909,530.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10864,127
$CAP_FILE_SIZE,27881,0
$CFSIZE,1024409600,892207104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100917,005140,5940.783,-17112.336,7,0.8,15,8.3,0.0,252.0,10,4.6