version: 66.13
glider: 401
mission: 22
dive: 2783
start: 9 13 117 8 23 0
data:
$ID,401
$MISSION,22
$DIVE,2783
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,130917,080147,5917.3262,-17034.5312,9,0.8,14,8.6,0.9,34.7,9,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-1.5
$GPS2,130917,080147,5917.3262,-17034.5312,9,0.8,14,8.6,0.9,34.7,9,4.7
$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,155.8,22970,-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,-487.5,2385,1948,2381,4092,0.0,0.0,0,26,6.35,0.00,-4.72,0.000,20482,0.022,0.000,1761,1948,2875,2875,4095,0,0,0,0,0,0,26.23,28.83,26.26,10.34,52.75
$GC,33,-1.80,-487.5,1760,1948,2874,4095,0.0,-2.3,2,41,0.00,1.27,-1.58,0.000,16644,0.000,1.212,1760,2384,3058,3058,4094,0,0,0,0,0,0,26.51,23.87,26.46,10.44,53.50
$GC,279,-1.80,-487.5,1759,2384,3066,4094,36.2,-13.7,41,285,0.00,1.08,0.00,0.000,1030,0.000,0.031,1760,1952,3065,3065,4094,0,0,0,0,0,0,26.22,26.18,26.26,10.42,51.61
$GC,321,-1.80,-487.5,1759,1952,3066,4094,42.3,-14.1,47,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1952,3066,3066,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.41,50.98
$GC,363,-1.80,-487.5,1759,1952,3067,4094,48.3,-14.9,53,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1952,3068,3068,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.40,50.27
$GC,405,-1.80,-487.5,1759,1951,3069,4094,54.3,-14.6,59,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1951,3069,3069,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.39,50.19
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,430,-0.45,0.0,1760,2149,3069,4094,56.8,-14.5,61,466,4.62,0.00,28.77,1.271,10244,0.055,0.000,2185,2149,2484,2484,4094,0,0,0,0,0,0,26.13,25.18,23.89,10.40,50.19
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,474,1.80,487.5,2185,2149,2484,4094,60.9,0.0,67,515,7.60,0.00,28.38,1.248,11270,0.031,0.000,2900,2149,1915,1915,4094,0,0,0,0,0,0,25.71,25.90,23.49,10.27,49.40
$GC,551,1.80,487.5,2900,2149,1914,4094,55.0,11.9,79,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2150,1914,1914,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.15,48.38
$GC,593,1.80,487.5,2899,2149,1913,4094,49.5,13.4,85,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1913,1913,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.14,47.95
$GC,635,1.80,487.5,2899,2149,1912,4094,44.0,13.5,91,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1912,1912,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.13,48.30
$GC,677,1.80,487.5,2899,2149,1911,4094,38.7,13.3,97,683,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1713,1911,1911,4094,0,0,0,0,0,0,26.15,25.69,26.16,10.13,48.85
$GC,839,1.92,563.9,2900,1713,1906,4094,19.5,9.6,122,853,0.30,1.00,5.57,0.584,11270,0.030,0.029,2939,2126,1825,1825,4094,0,0,0,0,0,0,26.08,26.05,24.10,10.16,50.55
$GC,889,1.92,563.9,2938,2125,1824,4094,13.4,12.0,129,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2125,1824,1824,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.16,52.52
$GC,931,1.92,563.9,2938,2125,1823,4094,8.1,13.2,135,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2126,1823,1823,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.17,52.63
$GC,973,1.92,563.9,2938,2125,1821,4094,3.0,12.3,141,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2126,1820,1820,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.18,52.91
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,0.8,1.024284,92
$GC,998,0.14,91.7,2938,2127,1822,4094,0.8,12.7,143,1012,5.68,0.00,-5.30,0.000,20486,0.021,0.000,2385,2127,2384,2384,4094,0,0,0,0,0,0,26.17,24.39,26.22,10.18,53.42
$FINISH2,-0.1
$STATE,1013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,064851
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.93
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.49,81.276
$10V_AH,10.29,72.526
$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,24.550,5.450,62.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.000,232.180,125.952,210.495,130.292,0.000,280.929,0.000,220.139,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1211.760,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333628
$DATA_FILE_SIZE,10883,145
$CAP_FILE_SIZE,22760,0
$CFSIZE,1024409600,909443072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,080147,5917.326,-17034.531,9,0.8,14,8.6,0.9,34.7,9,4.7