version: 66.13
glider: 401
mission: 22
dive: 2797
start: 9 13 117 13 53 52
data:
$ID,401
$MISSION,22
$DIVE,2797
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,130917,133432,5914.8193,-17031.9590,5,0.7,32,8.6,0.4,283.6,11,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-40.4
$GPS2,130917,135313,5914.6738,-17032.1523,6,0.9,19,8.6,0.2,135.8,10,5.0
$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,158.6,17652,-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,13,-1.80,-487.5,238,1965,1902,4092,0.0,0.0,0,20,5.72,0.00,0.00,0.000,2049,0.093,0.000,719,1966,1902,1902,4095,0,0,0,0,0,0,26.40,28.83,28.83,10.27,51.92
$GC,27,-1.80,-487.5,719,1967,1902,4095,0.7,0.0,1,58,11.12,1.20,-11.15,0.000,19204,0.042,1.206,1754,2369,3054,3054,4095,0,0,0,0,0,0,25.92,23.59,26.01,10.27,51.26
$GC,296,-1.80,-487.5,1753,2370,3060,4095,29.3,-13.7,44,302,0.00,1.05,0.00,0.000,1030,0.000,0.029,1754,1950,3061,3061,4095,0,0,0,0,0,0,26.18,26.15,26.21,10.47,50.98
$GC,339,-1.80,-487.5,1753,1950,3062,4095,35.2,-13.9,50,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1950,3062,3062,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.45,50.43
$GC,380,-1.80,-487.5,1754,1950,3063,4094,41.3,-14.3,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1950,3063,3063,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.44,48.77
$GC,422,-1.80,-487.5,1753,1950,3064,4095,47.6,-15.2,62,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1950,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.43,48.97
$GC,464,-1.80,-487.5,1753,1950,3066,4095,53.6,-14.7,68,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1950,3066,3066,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.42,48.38
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,489,-0.45,0.0,1754,2140,3066,4095,56.1,-14.5,70,525,4.65,0.00,28.67,1.265,10244,0.054,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.09,25.11,23.82,10.42,48.54
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,533,1.80,487.5,2184,2140,2484,4094,60.2,0.0,76,574,7.57,0.00,28.35,1.242,11270,0.030,0.000,2900,2140,1915,1915,4094,0,0,0,0,0,0,25.69,25.87,23.45,10.30,48.11
$GC,611,1.82,501.5,2900,2140,1915,4094,54.9,10.6,88,618,0.00,1.20,2.72,0.356,8708,0.000,0.045,2901,1705,1899,1899,4094,0,0,0,0,0,0,25.69,24.78,23.30,10.17,47.12
$GC,720,1.82,501.5,2900,1704,1895,4094,40.4,13.1,105,727,0.00,1.02,0.00,0.000,1030,0.000,0.031,2901,2118,1895,1895,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.15,48.03
$GC,763,1.82,501.5,2900,2118,1893,4094,34.9,13.5,111,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1894,1894,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.14,47.40
$GC,805,1.82,501.5,2900,2118,1892,4094,29.5,13.0,117,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1892,1892,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.15,47.87
$GC,847,1.82,501.5,2900,2118,1891,4094,24.4,12.2,123,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1891,1891,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.13,48.62
$GC,888,1.82,501.5,2900,2118,1890,4094,19.1,12.2,129,895,0.00,1.08,0.00,0.000,516,0.000,0.049,2901,1713,1890,1890,4094,0,0,0,0,0,0,26.38,25.87,26.39,10.18,49.13
$GC,1021,1.82,501.5,2900,1713,1887,4094,4.5,11.6,150,1027,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2125,1886,1886,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.21,51.96
$STATE,1039,end climb,FINISH_DEPTH_REACHED
$STATE,1039,begin subsurface finish
$FINISH1,1.8,1.024297,91
$GC,1054,0.14,90.8,2900,2124,1885,4094,1.8,10.9,153,1068,5.43,0.00,-4.45,0.000,20486,0.039,0.000,2379,2125,2384,2384,4094,0,0,0,0,0,0,26.25,24.39,26.29,10.21,52.44
$FINISH2,0.2
$STATE,1069,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1069,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,134903
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.63
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.30,81.679
$10V_AH,10.10,72.842
$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,34.500,7.025,59.750,0.000,0.000,108.627,113.791,462.295,0.000,0.000,21.205,405.958,385.641,135.033,855.292,413.020,0.000,302.688,0.000,235.741,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1206.405,1264.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333576
$DATA_FILE_SIZE,10855,155
$CAP_FILE_SIZE,33021,0
$CFSIZE,1024409600,908738560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130917,135313,5914.674,-17032.152,6,0.9,19,8.6,0.2,135.8,10,5.0