version: 66.13
glider: 401
mission: 22
dive: 2789
start: 9 13 117 10 39 18
data:
$ID,401
$MISSION,22
$DIVE,2789
$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,40
$R_STBD_OVSHOOT,21
$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
$GPS1,130917,101846,5916.7534,-17032.9453,7,1.0,16,8.6,0.0,124.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-3.1
$GPS2,130917,101846,5916.7534,-17032.9453,7,1.0,16,8.6,0.0,124.4,9,5.0
$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,158.9,21575,-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,-487.5,2385,1931,2381,4092,0.0,0.0,0,25,6.20,0.00,-4.88,0.000,20482,0.024,0.000,1777,1928,2910,2910,4095,0,0,0,0,0,0,26.19,28.83,26.22,10.33,53.30
$GC,32,-1.80,-487.5,1776,1928,2910,4095,0.2,-3.7,2,40,0.00,1.30,-1.15,0.000,16644,0.000,1.213,1777,2381,3055,3055,4094,0,0,0,0,0,0,26.49,23.86,26.41,10.45,52.87
$GC,278,-1.80,-487.5,1777,2381,3062,4094,36.2,-13.2,41,285,0.00,1.05,0.00,0.000,1030,0.000,0.030,1777,1963,3062,3062,4094,0,0,0,0,0,0,26.23,26.20,26.27,10.42,52.32
$GC,321,-1.80,-487.5,1776,1962,3063,4094,41.9,-13.2,47,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1963,3063,3063,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.41,51.92
$GC,362,-1.80,-487.5,1776,1962,3064,4095,47.6,-14.0,53,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1963,3064,3064,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.41,50.43
$GC,404,-1.80,-487.5,1776,1962,3066,4094,53.3,-14.2,59,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1963,3066,3066,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.40,50.90
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,429,-0.45,0.0,1776,2153,3066,4094,55.8,-14.2,61,465,4.40,0.00,28.52,1.258,10244,0.054,0.000,2185,2153,2484,2484,4094,0,0,0,0,0,0,26.13,25.19,23.90,10.40,50.70
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,473,1.80,487.5,2185,2153,2484,4094,59.7,0.0,67,514,7.57,0.00,28.17,1.239,11270,0.029,0.000,2902,2153,1915,1915,4094,0,0,0,0,0,0,25.70,25.90,23.51,10.26,49.13
$GC,551,1.80,487.5,2901,2153,1914,4094,54.3,11.4,79,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2153,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.15,48.22
$GC,592,1.80,487.5,2900,2153,1913,4094,48.9,13.5,85,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2153,1913,1913,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.14,48.38
$GC,634,1.80,487.5,2901,2153,1912,4094,43.4,13.4,91,641,0.00,1.17,0.00,0.000,516,0.000,0.046,2902,1713,1912,1912,4094,0,0,0,0,0,0,26.04,25.59,26.06,10.14,49.05
$GC,743,1.80,487.5,2901,1712,1909,4094,29.1,13.2,108,749,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2123,1908,1908,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.13,49.40
$GC,786,1.80,487.5,2901,2122,1908,4094,23.6,13.1,114,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1907,1907,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.15,50.00
$GC,827,1.80,487.5,2901,2122,1907,4094,19.1,10.9,120,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1907,1907,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.17,50.47
$GC,869,1.83,505.8,2901,2122,1905,4095,14.7,10.5,126,876,0.00,0.00,2.47,0.181,8198,0.000,0.000,2902,2123,1893,1893,4094,0,0,0,0,0,0,26.43,24.93,23.76,10.19,51.61
$GC,912,1.83,505.8,2901,2122,1892,4094,9.6,12.2,132,919,0.00,1.08,0.00,0.000,516,0.000,0.046,2902,1713,1891,1891,4094,0,0,0,0,0,0,26.45,25.96,26.46,10.20,52.24
$STATE,972,end climb,FINISH_DEPTH_REACHED
$STATE,973,begin subsurface finish
$FINISH1,1.6,1.024294,91
$GC,989,0.14,91.0,2901,2150,1889,4094,1.6,12.8,142,1002,5.30,0.00,-4.60,0.000,20486,0.021,0.000,2382,2152,2382,2382,4094,0,0,0,0,0,0,26.21,24.42,26.26,10.21,52.95
$FINISH2,0.0
$STATE,1003,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1003,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,130917,090550
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.38
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.51,81.437
$10V_AH,10.29,72.659
$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,23.475,7.650,59.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,378.143,232.762,122.355,208.808,124.781,0.000,275.751,0.000,218.731,0.000,0.544,0.000
$DEVICE_MAMPS,53.550,1212.525,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333724
$DATA_FILE_SIZE,10751,144
$CAP_FILE_SIZE,23113,0
$CFSIZE,1024409600,909148160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,101846,5916.753,-17032.945,7,1.0,16,8.6,0.0,124.4,9,5.0