version: 66.13
glider: 401
mission: 22
dive: 2766
start: 9 13 117 1 48 3
data:
$ID,401
$MISSION,22
$DIVE,2766
$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,62
$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,4
$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
$GPS1,130917,010817,5921.4404,-17034.6797,10,0.9,18,8.6,0.7,156.5,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-2.2
$GPS2,130917,010817,5921.4404,-17034.6797,10,0.9,18,8.6,0.7,156.5,10,4.8
$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,159.4,30408,-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,-487.5,2378,1996,2383,4092,0.0,0.0,0,30,6.32,0.12,-6.65,0.000,20486,0.024,1.245,1758,1944,3059,3059,4094,0,0,0,0,0,0,26.29,23.22,26.35,10.34,54.37
$GC,37,-1.80,-487.5,1758,1944,3059,4094,0.1,-1.5,2,47,0.00,1.05,0.00,0.000,260,0.000,0.044,1758,2339,3059,3059,4094,0,0,0,0,0,0,26.54,26.08,26.55,10.49,54.29
$GC,159,-1.80,-487.5,1757,2339,3062,4094,19.0,-18.3,19,168,0.00,0.95,0.00,0.000,1030,0.000,0.031,1758,1962,3063,3063,4095,0,0,0,0,0,0,26.29,26.25,26.33,10.49,54.44
$GC,209,-1.80,-487.5,1757,1962,3064,4095,27.2,-15.1,25,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1962,3064,3064,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.46,53.81
$GC,258,-1.80,-487.5,1757,1962,3065,4094,34.2,-14.4,31,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1962,3066,3066,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.43,52.99
$GC,307,-1.80,-487.5,1758,1961,3066,4094,41.3,-14.8,37,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1962,3067,3067,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.41,52.24
$GC,356,-1.80,-487.5,1758,1962,3068,4094,48.4,-15.0,43,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1962,3068,3068,4095,0,0,0,0,0,0,26.70,26.72,26.71,10.41,50.74
$STATE,392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,392,begin apogee
$GC,406,-0.45,0.0,1758,2116,3070,4094,55.3,-16.2,48,442,4.62,0.00,28.88,1.268,10244,0.057,0.000,2185,2117,2484,2484,4094,0,0,0,0,0,0,26.17,25.23,23.93,10.40,51.02
$STATE,443,end apogee,CONTROL_FINISHED_OK
$STATE,443,begin climb
$GC,450,1.80,487.5,2185,2116,2484,4094,59.9,0.0,52,494,7.62,0.00,28.33,1.241,11270,0.031,0.000,2901,2116,1916,1916,4094,0,0,0,0,0,0,25.75,25.95,23.57,10.28,50.23
$GC,536,1.80,487.5,2900,2116,1915,4094,53.9,11.4,62,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2116,1915,1915,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.15,49.09
$GC,586,1.80,487.5,2900,2116,1914,4094,47.0,13.7,68,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2116,1914,1914,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.15,48.81
$GC,637,1.80,487.5,2900,2116,1912,4094,40.4,12.4,74,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2116,1912,1912,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.14,49.33
$GC,687,1.80,487.5,2900,2116,1911,4094,33.6,13.0,80,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2116,1911,1911,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.14,48.89
$GC,738,1.80,487.5,2900,2115,1909,4095,27.2,12.2,86,746,0.00,1.08,0.00,0.000,516,0.000,0.047,2901,1710,1909,1909,4094,0,0,0,0,0,0,26.34,25.87,26.34,10.13,48.74
$GC,897,1.80,487.5,2900,1710,1904,4094,8.8,11.1,109,906,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2126,1905,1905,4094,0,0,0,0,0,0,26.15,26.14,26.20,10.20,52.95
$GC,946,1.80,487.5,2900,2125,1903,4094,3.4,11.0,115,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1903,1903,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.21,53.81
$STATE,962,end climb,SURFACE_DEPTH_REACHED
$STATE,962,begin surface coast
$FINISH,-0.1,1.018733
$STATE,983,end surface coast,CONTROL_FINISHED_OK
$STATE,983,begin surface
$SM_CCo,1094,0.00,0.000,0,0,1902,500.56
$SM_GC,0.92,27.77,0.45,0.00,0.020,0.039,0.000,232,1942,1902,-6.59,1.23,500.56,0,0,0,0,0,0,26.05,26.23,26.13
$IRIDIUM_FIX,5957.10,-16911.74,130917,005837
$TT8_MAMPS,0.025466,0.23968
$HUMID,53.62
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.22,80.807
$10V_AH,9.97,72.159
$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,46.350,5.600,57.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,346.637,60.471,125.932,498.031,135.140,0.000,321.988,0.000,294.497,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1245.420,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.479,326.024,258.014,382.644,496.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333624
$DATA_FILE_SIZE,10933,120
$CAP_FILE_SIZE,23095,0
$CFSIZE,1024409600,910278656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,020724,5920.552,-17034.139,2,1.0,19,8.6,0.2,55.2,10,4.9