version: 66.13
glider: 401
mission: 22
dive: 2626
start: 9 10 117 15 29 42
data:
$ID,401
$MISSION,22
$DIVE,2626
$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,60
$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
$GPS1,100917,151734,5938.0664,-17104.1934,8,0.9,38,8.3,0.6,285.7,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-41.0
$GPS2,100917,152902,5938.1016,-17104.3613,8,1.0,15,8.3,0.6,248.7,11,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$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,142.0,69760,-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,-487.5,237,1952,1867,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.104,0.000,934,1951,1867,1867,4095,0,0,0,0,0,0,26.33,28.83,28.83,10.25,52.08
$GC,29,-1.80,-487.5,934,1951,1867,4095,0.9,0.0,1,57,8.80,1.15,-11.12,0.000,18692,0.041,1.206,1755,2343,3054,3054,4094,0,0,0,0,0,0,25.91,23.64,25.95,10.25,52.12
$GC,259,-1.80,-487.5,1755,2344,3060,4094,30.8,-13.0,33,269,0.00,1.00,0.00,0.000,1030,0.000,0.031,1755,1944,3060,3060,4095,0,0,0,0,0,0,26.10,26.08,26.13,10.46,50.94
$GC,309,-1.80,-487.5,1755,1944,3061,4095,37.9,-14.4,39,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1944,3062,3062,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.43,49.92
$GC,357,-1.80,-487.5,1755,1943,3063,4094,44.9,-14.9,45,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1944,3063,3063,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.41,48.38
$GC,406,-1.80,-487.5,1755,1944,3064,4094,51.9,-14.5,51,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1944,3064,3064,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.40,47.63
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,438,-0.45,0.0,1755,2115,3065,4095,55.4,-15.0,53,475,4.68,0.00,28.70,1.277,10244,0.057,0.000,2186,2115,2484,2484,4094,0,0,0,0,0,0,26.05,25.13,23.84,10.39,47.48
$STATE,476,end apogee,CONTROL_FINISHED_OK
$STATE,476,begin climb
$GC,482,1.80,487.5,2185,2114,2485,4094,60.6,0.0,57,527,7.60,0.00,28.42,1.248,11270,0.030,0.000,2900,2115,1916,1916,4094,0,0,0,0,0,0,25.63,25.83,23.49,10.27,46.88
$GC,569,1.80,487.5,2900,2114,1915,4094,54.3,11.5,67,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2115,1915,1915,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.15,45.58
$GC,619,1.80,487.5,2900,2114,1914,4094,47.8,12.9,73,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2115,1913,1913,4095,0,0,0,0,0,0,25.90,25.91,25.91,10.14,45.98
$GC,669,1.80,487.5,2900,2114,1912,4095,41.3,12.9,79,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2115,1912,1912,4095,0,0,0,0,0,0,26.06,26.07,26.06,10.13,45.94
$GC,719,1.80,487.5,2900,2114,1911,4095,34.7,12.9,85,729,0.00,1.05,0.00,0.000,516,0.000,0.046,2900,1720,1911,1911,4094,0,0,0,0,0,0,26.17,25.72,26.17,10.12,46.37
$GC,847,1.80,487.5,2900,1720,1907,4094,18.8,10.9,103,857,0.00,0.98,0.00,0.000,1030,0.000,0.029,2900,2122,1907,1907,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.18,49.48
$GC,897,1.80,487.5,2900,2121,1905,4094,13.3,11.0,109,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1905,1905,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.20,51.45
$GC,947,1.80,487.5,2900,2121,1904,4095,7.8,11.2,115,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1904,1904,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.21,51.65
$GC,996,1.80,487.5,2900,2121,1902,4094,2.1,11.7,121,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1902,1902,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.21,52.00
$STATE,1012,end climb,FINISH_DEPTH_REACHED
$STATE,1012,begin subsurface finish
$FINISH1,0.3,1.024347,87
$GC,1027,0.13,87.3,2900,2121,1902,4094,0.3,10.1,123,1046,5.12,1.17,-4.43,0.000,20996,0.021,1.216,2394,1710,2387,2387,4094,0,0,0,0,0,0,26.21,23.82,26.26,10.22,51.96
$FINISH2,0.2
$STATE,1047,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,141143
$TT8_MAMPS,0.026215,0.27713
$HUMID,52.79
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.49,76.794
$10V_AH,9.93,68.917
$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,34.675,5.875,57.125,0.000,0.000,24.577,18.806,322.371,0.000,0.000,16.871,359.370,0.401,110.898,815.397,450.244,0.000,329.438,0.000,308.782,0.000,0.542,0.000
$DEVICE_MAMPS,104.040,1215.585,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.015,339.646,268.793,398.294,519.915,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331864
$DATA_FILE_SIZE,10816,125
$CAP_FILE_SIZE,26777,0
$CFSIZE,1024409600,890437632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100917,152902,5938.102,-17104.361,8,1.0,15,8.3,0.6,248.7,11,4.7