version: 66.13
glider: 401
mission: 22
dive: 2776
start: 9 13 117 5 45 6
data:
$ID,401
$MISSION,22
$DIVE,2776
$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,12
$R_STBD_OVSHOOT,57
$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
$GPS1,130917,053454,5918.0361,-17034.6777,2,0.8,14,8.6,0.4,313.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-42.5
$GPS2,130917,054426,5918.0249,-17034.7461,10,0.9,18,8.6,0.5,329.3,9,4.9
$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,156.2,24272,-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,-487.5,237,1966,1889,4092,0.0,0.0,0,22,7.60,0.00,0.00,0.000,2049,0.098,0.000,869,1964,1890,1890,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.26,53.03
$GC,29,-1.80,-487.5,868,1964,1889,4094,0.6,0.0,1,57,9.57,1.10,-11.57,0.000,18692,0.047,1.205,1751,2349,3056,3056,4094,0,0,0,0,0,0,25.86,23.61,25.91,10.26,53.03
$GC,199,-1.80,-487.5,1750,2349,3060,4094,18.8,-17.9,24,209,0.00,1.02,0.00,0.000,1030,0.000,0.031,1752,1940,3060,3060,4095,0,0,0,0,0,0,26.08,26.06,26.13,10.51,51.96
$GC,251,-1.80,-487.5,1751,1940,3061,4095,27.3,-16.4,30,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1940,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.48,52.24
$GC,301,-1.80,-487.5,1751,1940,3062,4094,34.5,-14.0,36,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1940,3063,3063,4095,0,0,0,0,0,0,26.54,26.56,26.55,10.45,50.94
$GC,352,-1.80,-487.5,1751,1940,3064,4095,41.7,-14.5,42,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1940,3065,3065,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.43,49.80
$GC,402,-1.80,-487.5,1751,1940,3066,4094,49.3,-15.2,48,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1940,3066,3066,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.42,48.62
$STATE,438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,438,begin apogee
$GC,453,-0.45,0.0,1751,2113,3067,4095,55.8,-14.3,53,489,4.70,0.00,28.83,1.267,10244,0.055,0.000,2185,2113,2484,2484,4094,0,0,0,0,0,0,26.08,25.14,23.83,10.41,49.29
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,497,1.80,487.5,2184,2113,2484,4094,60.2,0.0,57,541,7.62,0.00,28.23,1.247,11270,0.031,0.000,2900,2113,1920,1920,4094,0,0,0,0,0,0,25.68,25.87,23.48,10.30,48.03
$GC,584,1.80,487.5,2900,2113,1919,4094,54.0,12.5,67,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2113,1919,1919,4094,0,0,0,0,0,0,25.75,25.75,25.75,10.16,47.16
$GC,634,1.80,487.5,2900,2113,1917,4094,47.4,13.1,73,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2113,1917,1917,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.16,46.73
$GC,684,1.80,487.5,2900,2113,1916,4094,40.9,12.8,79,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2113,1916,1916,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.16,47.08
$GC,735,1.80,487.5,2900,2112,1915,4094,34.3,12.7,85,744,0.00,1.05,0.00,0.000,516,0.000,0.047,2901,1713,1914,1914,4094,0,0,0,0,0,0,26.22,25.75,26.23,10.15,47.32
$GC,851,1.93,571.5,2900,1713,1911,4094,20.3,9.5,101,863,0.28,1.02,6.12,0.619,11270,0.031,0.029,2938,2133,1817,1817,4094,0,0,0,0,0,0,26.06,26.05,24.13,10.18,49.40
$GC,905,1.93,571.5,2937,2133,1816,4094,14.2,12.0,107,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2133,1815,1815,4094,0,0,0,0,0,0,26.36,26.39,26.38,10.18,50.94
$GC,955,1.93,571.5,2937,2133,1814,4094,8.1,12.0,113,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2133,1815,1815,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.19,51.45
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.9,1.024278,92
$GC,1014,0.14,92.1,2938,2133,1812,4094,1.9,12.4,119,1033,5.65,1.23,-5.32,0.000,20996,0.020,1.222,2386,1712,2379,2379,4094,0,0,0,0,0,0,26.16,23.79,26.22,10.20,52.20
$FINISH2,-0.1
$STATE,1034,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,043107
$TT8_MAMPS,0.025466,0.255409
$HUMID,52.24
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.48,81.090
$10V_AH,9.91,72.384
$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,35.425,5.925,63.175,0.000,0.000,25.814,25.186,263.115,0.000,0.000,19.672,361.136,0.000,111.465,788.497,352.551,0.000,326.358,0.000,298.804,0.000,0.544,0.000
$DEVICE_MAMPS,97.920,1222.470,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.846,328.738,260.166,385.893,503.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333560
$DATA_FILE_SIZE,10876,121
$CAP_FILE_SIZE,26818,0
$CFSIZE,1024409600,909787136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130917,054426,5918.025,-17034.746,10,0.9,18,8.6,0.5,329.3,9,4.9