version: 66.13
glider: 401
mission: 22
dive: 2780
start: 9 13 117 7 14 36
data:
$ID,401
$MISSION,22
$DIVE,2780
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,130917,065431,5917.6099,-17034.8809,10,0.9,17,8.6,0.0,115.2,9,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-1.4
$GPS2,130917,065431,5917.6099,-17034.8809,10,0.9,17,8.6,0.0,115.2,9,4.3
$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,155.4,23567,-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,-487.5,2383,1940,2383,4092,0.0,0.0,0,30,6.32,0.00,-6.75,0.000,20486,0.023,0.000,1759,1940,3057,3057,4094,0,0,0,0,0,0,26.29,24.28,26.33,10.34,53.66
$GC,37,-1.80,-487.5,1758,1940,3057,4094,0.0,-1.3,2,47,0.00,1.15,0.00,0.000,260,0.000,0.041,1758,2373,3057,3057,4094,0,0,0,0,0,0,26.48,26.05,26.49,10.48,53.62
$GC,139,-1.80,-487.5,1758,2373,3060,4094,14.8,-17.8,16,149,0.00,1.05,0.00,0.000,1030,0.000,0.032,1758,1954,3060,3060,4094,0,0,0,0,0,0,26.20,26.15,26.22,10.49,53.07
$GC,189,-1.80,-487.5,1758,1954,3062,4094,24.0,-19.3,22,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3062,3062,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.47,53.85
$GC,238,-1.80,-487.5,1758,1954,3063,4094,31.1,-13.9,28,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3063,3063,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.44,52.67
$GC,287,-1.80,-487.5,1758,1954,3064,4095,37.8,-13.8,34,296,0.00,1.08,0.00,0.000,516,0.000,0.053,1758,1524,3064,3064,4094,0,0,0,0,0,0,26.63,26.08,26.65,10.42,51.61
$GC,369,-1.80,-487.5,1758,1524,3067,4094,49.9,-15.0,45,379,0.00,0.98,0.00,0.000,1030,0.000,0.027,1758,1943,3067,3067,4094,0,0,0,0,0,0,26.34,26.33,26.38,10.40,49.96
$STATE,399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,399,begin apogee
$GC,414,-0.45,0.0,1758,2134,3068,4095,55.2,-14.4,49,450,4.62,0.00,28.77,1.260,10244,0.055,0.000,2185,2134,2484,2484,4095,0,0,0,0,0,0,26.15,25.19,23.89,10.39,49.88
$STATE,451,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$GC,458,1.80,487.5,2184,2133,2484,4095,59.6,0.0,53,502,7.62,0.00,28.35,1.239,11270,0.030,0.000,2902,2134,1915,1915,4094,0,0,0,0,0,0,25.72,25.93,23.51,10.28,49.29
$GC,544,1.80,487.5,2901,2133,1914,4094,53.3,11.8,63,554,0.00,1.15,0.00,0.000,516,0.000,0.047,2902,1710,1914,1914,4094,0,0,0,0,0,0,25.76,25.34,25.77,10.15,47.79
$GC,661,1.80,487.5,2901,1709,1911,4094,38.0,13.4,79,670,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2127,1911,1911,4094,0,0,0,0,0,0,25.84,25.81,25.87,10.14,49.21
$GC,712,1.80,487.5,2902,2126,1909,4094,31.3,12.9,85,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1909,1909,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.13,49.09
$GC,762,1.80,487.5,2901,2126,1908,4094,24.5,13.6,91,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1907,1907,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.13,49.48
$GC,813,1.84,508.7,2901,2126,1906,4094,18.9,10.5,97,823,0.00,0.00,2.53,0.203,8198,0.000,0.000,2902,2127,1893,1893,4094,0,0,0,0,0,0,26.39,24.45,23.75,10.17,49.64
$GC,864,1.84,508.7,2901,2126,1892,4094,13.2,11.2,103,874,0.00,1.10,0.00,0.000,516,0.000,0.048,2902,1707,1891,1891,4094,0,0,0,0,0,0,26.43,25.92,26.44,10.19,51.26
$STATE,960,end climb,FINISH_DEPTH_REACHED
$STATE,960,begin subsurface finish
$FINISH1,1.5,1.024277,92
$GC,976,0.14,92.2,2902,2137,1889,4094,1.5,11.5,117,995,5.25,0.00,-4.43,0.000,20486,0.018,0.000,2382,2138,2379,2379,4094,0,0,0,0,0,0,26.24,25.52,26.28,10.21,52.48
$FINISH2,0.2
$STATE,996,end subsurface finish,CONTROL_FINISHED_OK
$STATE,996,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,053844
$TT8_MAMPS,0.026215,0.240429
$HUMID,53.66
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.51,81.194
$10V_AH,9.94,72.468
$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,23.825,9.600,59.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,340.031,0.000,102.068,498.889,118.399,0.000,303.607,0.000,293.034,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,52.785,1259.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.683,323.347,255.825,379.645,497.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,10925,119
$CAP_FILE_SIZE,21527,0
$CFSIZE,1024409600,909590528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,065431,5917.610,-17034.881,10,0.9,17,8.6,0.0,115.2,9,4.3