version: 66.13
glider: 401
mission: 22
dive: 2785
start: 9 13 117 9 12 27
data:
$ID,401
$MISSION,22
$DIVE,2785
$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,27
$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
$GPS1,130917,090151,5917.0850,-17033.9766,3,0.8,28,8.6,1.0,75.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-41.3
$GPS2,130917,091148,5917.1011,-17033.8750,10,0.8,28,8.6,1.0,158.9,10,4.9
$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,157.1,22407,-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,-487.5,231,1937,1901,4092,0.0,0.0,0,20,5.68,0.00,0.00,0.000,2049,0.092,0.000,710,1938,1901,1901,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.26,52.24
$GC,27,-1.80,-487.5,711,1938,1901,4094,0.6,0.0,1,58,11.32,1.27,-11.35,0.000,19204,0.049,1.201,1754,2377,3055,3055,4095,0,0,0,0,0,0,25.90,23.61,26.00,10.26,52.28
$GC,76,-1.80,-487.5,1753,2377,3056,4095,1.3,-4.8,8,82,0.00,1.08,0.00,0.000,1030,0.000,0.031,1754,1951,3055,3055,4094,0,0,0,0,0,0,25.95,25.91,25.98,10.51,52.67
$GC,118,-1.80,-487.5,1753,1950,3057,4094,6.9,-15.0,14,125,0.00,1.15,0.00,0.000,260,0.000,0.044,1754,2381,3057,3057,4094,0,0,0,0,0,0,26.36,25.87,26.37,10.51,52.24
$GC,363,-1.80,-487.5,1753,2381,3064,4094,44.9,-14.5,53,369,0.00,1.10,0.00,0.000,1030,0.000,0.030,1754,1938,3064,3064,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.43,49.84
$GC,405,-1.80,-487.5,1753,1938,3065,4094,51.3,-15.3,59,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1938,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.42,49.37
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,443,-0.45,0.0,1754,2145,3066,4094,55.7,-14.8,63,479,4.68,0.00,28.67,1.271,10244,0.055,0.000,2185,2146,2484,2484,4095,0,0,0,0,0,0,26.07,25.12,23.82,10.41,48.70
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,487,1.80,487.5,2184,2145,2484,4095,60.0,0.0,69,528,7.60,0.00,28.38,1.245,11270,0.029,0.000,2900,2145,1916,1916,4094,0,0,0,0,0,0,25.67,25.86,23.46,10.30,48.66
$GC,565,1.80,487.5,2899,2145,1915,4094,54.3,11.6,81,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1914,1914,4094,0,0,0,0,0,0,25.67,25.69,25.67,10.17,47.00
$GC,606,1.80,487.5,2899,2145,1914,4094,48.7,13.1,87,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1913,1913,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.16,47.95
$GC,648,1.80,487.5,2899,2144,1912,4094,43.3,13.1,93,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1912,1912,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.15,47.44
$GC,690,1.80,487.5,2899,2145,1911,4094,37.9,12.8,99,696,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1713,1911,1911,4094,0,0,0,0,0,0,26.14,25.68,26.15,10.15,47.67
$GC,840,1.86,523.7,2899,1712,1907,4094,19.0,10.2,123,849,0.10,1.00,3.45,0.393,11270,0.054,0.029,2918,2126,1873,1873,4095,0,0,0,0,0,0,25.98,26.03,23.89,10.18,49.09
$GC,885,1.86,523.7,2918,2126,1872,4095,14.2,10.9,129,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2126,1872,1872,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.19,51.02
$GC,927,1.88,539.6,2918,2126,1871,4094,9.6,10.5,135,934,0.00,0.00,2.67,0.220,8198,0.000,0.000,2918,2126,1853,1853,4094,0,0,0,0,0,0,26.44,25.08,24.01,10.19,51.69
$GC,970,1.88,539.6,2917,2126,1852,4094,4.8,10.9,141,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2126,1852,1852,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.20,52.36
$STATE,993,end climb,FINISH_DEPTH_REACHED
$STATE,993,begin subsurface finish
$FINISH1,1.6,1.024292,91
$GC,1008,0.14,91.1,2917,2129,1851,4094,1.6,10.5,145,1027,5.53,1.20,-4.97,0.000,20996,0.031,1.226,2383,1719,2383,2383,4094,0,0,0,0,0,0,26.20,23.75,26.25,10.20,52.71
$FINISH2,-0.1
$STATE,1028,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1029,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,075628
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.15
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.46,81.337
$10V_AH,10.10,72.573
$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,34.900,8.475,63.175,0.000,0.000,23.782,29.870,279.590,0.000,0.000,29.507,390.386,232.690,138.695,511.568,357.902,0.000,302.900,0.000,226.052,0.000,0.542,0.000
$DEVICE_MAMPS,91.800,1226.295,1271.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.616,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333516
$DATA_FILE_SIZE,10882,148
$CAP_FILE_SIZE,28618,0
$CFSIZE,1024409600,909344768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130917,091148,5917.101,-17033.875,10,0.8,28,8.6,1.0,158.9,10,4.9