version: 66.13
glider: 401
mission: 22
dive: 2614
start: 9 10 117 10 40 14
data:
$ID,401
$MISSION,22
$DIVE,2614
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,100917,102830,5939.9482,-17105.0566,8,0.9,15,8.3,0.4,223.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-43.0
$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,-487.5,236,1978,1901,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.109,0.000,930,1973,1901,1901,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.25,52.04
$GC,30,-1.80,-487.5,930,1977,1901,4094,0.9,0.0,1,57,8.77,1.30,-10.82,0.000,18948,0.044,1.221,1748,1529,3055,3055,4095,0,0,0,0,0,0,25.92,23.68,25.97,10.26,52.08
$GC,279,-1.80,-487.5,1747,1529,3062,4095,33.5,-13.7,36,288,0.00,0.95,0.00,0.000,1030,0.000,0.027,1748,1937,3062,3062,4094,0,0,0,0,0,0,26.19,26.17,26.22,10.44,50.74
$GC,328,-1.80,-487.5,1747,1936,3062,4094,40.7,-14.4,42,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,1936,3063,3063,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.42,50.27
$GC,377,-1.80,-487.5,1747,1936,3064,4094,48.2,-15.9,48,387,0.00,1.12,0.00,0.000,260,0.000,0.046,1747,2366,3065,3065,4095,0,0,0,0,0,0,26.54,26.03,26.55,10.41,49.01
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,435,-0.45,0.0,1747,2115,3066,4095,55.7,-14.9,54,472,4.75,0.00,28.83,1.287,10244,0.057,0.000,2185,2109,2484,2484,4095,0,0,0,0,0,0,26.06,25.13,23.87,10.40,48.07
$STATE,473,end apogee,CONTROL_FINISHED_OK
$STATE,473,begin climb
$GC,479,1.80,487.5,2185,2108,2485,4095,60.4,0.0,58,524,7.62,0.00,28.45,1.255,11270,0.031,0.000,2900,2109,1917,1917,4094,0,0,0,0,0,0,25.63,25.82,23.49,10.28,47.08
$GC,566,1.80,487.5,2900,2108,1915,4094,54.0,12.0,68,575,0.00,0.98,0.00,0.000,516,0.000,0.045,2900,1739,1915,1915,4094,0,0,0,0,0,0,25.68,25.30,25.70,10.15,45.90
$GC,682,1.80,487.5,2900,1738,1912,4094,39.4,12.7,84,691,0.00,0.95,0.00,0.000,1030,0.000,0.030,2900,2125,1912,1912,4094,0,0,0,0,0,0,25.80,25.77,25.83,10.13,46.65
$GC,733,1.80,487.5,2900,2125,1911,4094,32.9,12.8,90,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1911,1911,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.12,46.65
$GC,784,1.80,487.5,2900,2125,1909,4094,26.6,12.4,96,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1909,1909,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.13,47.20
$GC,834,1.80,487.5,2900,2125,1908,4095,20.6,11.5,102,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1907,1907,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.18,49.48
$GC,885,1.80,487.5,2900,2125,1906,4094,15.2,10.9,108,894,0.00,1.02,0.00,0.000,516,0.000,0.046,2900,1736,1906,1906,4094,0,0,0,0,0,0,26.39,25.92,26.41,10.19,51.29
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,1000,begin subsurface finish
$FINISH1,1.9,1.024346,87
$GC,1016,0.13,87.4,2900,2144,1902,4094,1.9,10.9,125,1033,5.28,0.00,-4.40,0.000,20486,0.022,0.000,2379,2144,2384,2384,4095,0,0,0,0,0,0,26.22,25.51,26.27,10.21,53.15
$FINISH2,0.1
$STATE,1034,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,092256
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.99
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.49,76.448
$10V_AH,9.95,68.645
$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,34.925,7.925,57.275,0.000,0.000,26.064,31.864,277.815,0.000,0.000,18.729,365.538,0.394,100.585,821.634,411.374,0.000,304.251,0.000,313.080,0.000,0.543,0.000
$DEVICE_MAMPS,109.395,1220.940,1286.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.811,345.098,273.066,404.921,527.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,10847,127
$CAP_FILE_SIZE,25018,0
$CFSIZE,1024409600,891027456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100917,103935,5939.891,-17105.021,8,0.9,17,8.3,0.3,203.8,10,4.8