version: 66.13
glider: 401
mission: 22
dive: 2681
start: 9 11 117 13 37 17
data:
$ID,401
$MISSION,22
$DIVE,2681
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,110917,131648,5930.3257,-17051.8516,6,0.8,19,8.4,0.4,242.4,10,4.7
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.6
$GPS2,110917,131648,5930.3257,-17051.8516,6,0.8,19,8.4,0.4,242.4,10,4.7
$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,145.5,51455,-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,-487.5,2379,1952,2384,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.021,0.000,1834,1953,2384,2384,4094,0,0,0,0,0,0,26.51,28.83,28.83,10.32,52.44
$GC,26,-1.80,-487.5,1834,1953,2384,4094,0.1,0.0,1,40,0.50,1.20,-6.38,0.000,20740,0.031,1.216,1774,2370,3054,3054,4095,0,0,0,0,0,0,26.23,23.89,26.25,10.32,52.59
$GC,181,-1.80,-487.5,1773,2370,3058,4095,21.2,-17.4,25,188,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1945,3058,3058,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.48,52.71
$GC,224,-1.80,-487.5,1773,1945,3059,4095,27.2,-12.7,31,231,0.00,1.08,0.00,0.000,516,0.000,0.053,1774,1521,3060,3060,4095,0,0,0,0,0,0,26.55,26.02,26.56,10.43,52.79
$GC,308,-1.80,-487.5,1773,1521,3061,4095,38.8,-14.1,44,315,0.00,0.98,0.00,0.000,1030,0.000,0.028,1774,1939,3062,3062,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.40,51.18
$GC,351,-1.80,-487.5,1773,1939,3063,4095,44.7,-13.8,50,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3063,3063,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.38,50.59
$GC,393,-1.80,-487.5,1773,1939,3064,4095,50.7,-14.0,56,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1939,3064,3064,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.38,50.07
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,437,-0.45,0.0,1773,2137,3065,4095,55.7,-13.7,61,473,4.45,0.00,28.55,1.258,10244,0.054,0.000,2187,2137,2484,2484,4094,0,0,0,0,0,0,26.14,25.20,23.91,10.38,49.13
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,480,1.80,487.5,2187,2137,2484,4094,59.6,0.0,67,522,7.60,0.00,28.33,1.238,11270,0.030,0.000,2901,2137,1916,1916,4094,0,0,0,0,0,0,25.70,25.89,23.52,10.25,48.62
$GC,558,1.80,487.5,2900,2137,1915,4094,54.0,11.7,79,565,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1711,1914,1914,4095,0,0,0,0,0,0,25.67,25.27,25.68,10.12,47.51
$GC,703,1.80,487.5,2901,1711,1911,4095,35.7,12.4,102,709,0.00,1.02,0.00,0.000,1030,0.000,0.029,2901,2127,1911,1911,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.11,48.46
$GC,746,1.80,487.5,2900,2127,1909,4094,30.4,12.7,108,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1909,1909,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.10,48.58
$GC,788,1.80,487.5,2901,2127,1908,4094,24.9,12.7,114,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1908,1908,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.10,48.70
$GC,830,1.85,519.3,2900,2127,1907,4094,20.1,10.3,120,838,0.00,1.10,3.25,0.366,8708,0.000,0.046,2901,1710,1878,1878,4094,0,0,0,0,0,0,26.35,25.20,23.91,10.13,49.80
$GC,946,1.85,520.4,2901,1710,1874,4094,8.2,10.8,138,952,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2124,1875,1875,4094,0,0,0,0,0,0,26.13,26.09,26.15,10.17,52.71
$GC,988,1.85,520.4,2900,2124,1874,4094,3.5,11.1,144,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1874,1874,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.18,54.01
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.7,1.024328,89
$GC,1014,0.13,88.7,2901,2124,1873,4094,1.7,10.3,146,1028,5.28,0.00,-4.65,0.000,20486,0.020,0.000,2380,2124,2385,2385,4094,0,0,0,0,0,0,26.20,24.41,26.25,10.18,53.74
$FINISH2,0.1
$STATE,1029,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1029,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,110917,130904
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.85
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.52,78.351
$10V_AH,10.29,70.160
$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,23.425,9.600,60.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,389.924,240.404,122.293,214.367,125.900,0.000,277.885,0.000,224.370,0.000,0.545,0.000
$DEVICE_MAMPS,53.550,1216.350,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.477,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,10806,148
$CAP_FILE_SIZE,23782,0
$CFSIZE,1024409600,887734272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110917,131648,5930.326,-17051.852,6,0.8,19,8.4,0.4,242.4,10,4.7