version: 66.13
glider: 401
mission: 22
dive: 2801
start: 9 13 117 15 59 11
data:
$ID,401
$MISSION,22
$DIVE,2801
$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,19
$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
$GPS1,130917,153821,5913.5952,-17033.7402,6,0.8,16,8.6,0.5,218.8,11,4.6
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-3.8
$GPS2,130917,153821,5913.5952,-17033.7402,6,0.8,16,8.6,0.5,218.8,11,4.6
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,147.5,86009,-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,-487.5,2385,1951,2381,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.021,0.000,1826,1951,2381,2381,4094,0,0,0,0,0,0,26.53,28.83,28.83,10.35,51.96
$GC,27,-1.80,-487.5,1826,1951,2381,4094,0.1,0.0,1,40,0.43,1.20,-6.47,0.000,20996,0.032,1.221,1772,1518,3056,3056,4094,0,0,0,0,0,0,26.26,23.85,26.28,10.35,52.40
$GC,52,-1.80,-487.5,1772,1518,3057,4094,0.5,-1.1,4,58,0.00,1.02,0.00,0.000,1030,0.000,0.027,1772,1959,3056,3056,4095,0,0,0,0,0,0,26.17,26.14,26.18,10.49,52.20
$GC,94,-1.80,-487.5,1772,1958,3058,4095,5.4,-12.7,10,101,0.00,1.15,0.00,0.000,516,0.000,0.050,1772,1518,3057,3057,4095,0,0,0,0,0,0,26.48,25.97,26.49,10.49,52.16
$GC,320,-1.80,-487.5,1772,1518,3064,4095,40.0,-14.0,46,327,0.00,1.02,0.00,0.000,1030,0.000,0.028,1772,1956,3064,3064,4094,0,0,0,0,0,0,26.32,26.28,26.33,10.43,50.51
$GC,363,-1.80,-487.5,1771,1956,3066,4094,46.0,-14.8,52,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1955,3065,3065,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.41,49.68
$GC,405,-1.80,-487.5,1771,1955,3067,4095,52.0,-14.1,58,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3067,3067,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.40,49.72
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,437,-0.45,0.0,1772,2139,3067,4095,55.4,-13.7,61,473,4.45,0.00,28.58,1.244,10244,0.053,0.000,2186,2139,2485,2485,4094,0,0,0,0,0,0,26.15,25.20,23.91,10.41,49.48
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,480,1.80,487.5,2186,2139,2484,4094,58.9,0.0,67,522,7.60,0.00,28.20,1.226,11270,0.031,0.000,2903,2139,1915,1915,4094,0,0,0,0,0,0,25.72,25.93,23.51,10.29,48.74
$GC,558,1.80,487.5,2903,2139,1914,4094,53.7,12.1,79,565,0.00,1.17,0.00,0.000,516,0.000,0.047,2904,1705,1914,1914,4094,0,0,0,0,0,0,25.72,25.33,25.74,10.16,48.22
$GC,684,1.80,487.5,2903,1705,1910,4094,37.8,12.8,99,691,0.00,1.02,0.00,0.000,1030,0.000,0.029,2903,2123,1911,1911,4094,0,0,0,0,0,0,25.87,25.83,25.89,10.14,49.05
$GC,727,1.80,487.5,2903,2122,1910,4094,32.4,13.2,105,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1909,1909,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.14,48.58
$GC,769,1.80,487.5,2903,2122,1908,4094,26.9,13.5,111,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1908,1908,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.13,49.56
$GC,811,1.80,487.5,2903,2123,1907,4094,21.6,12.4,117,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1907,1907,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.15,48.97
$GC,853,1.90,550.9,2903,2123,1906,4095,17.1,9.8,123,866,0.20,1.10,4.88,0.527,10756,0.047,0.050,2935,1706,1841,1841,4094,0,0,0,0,0,0,26.20,25.29,24.08,10.18,50.19
$STATE,993,end climb,FINISH_DEPTH_REACHED
$STATE,993,begin subsurface finish
$FINISH1,1.5,1.024307,90
$GC,1010,0.14,90.1,2935,2153,1836,4094,1.5,11.7,145,1024,5.70,0.00,-5.03,0.000,20486,0.024,0.000,2381,2154,2385,2385,4095,0,0,0,0,0,0,26.23,24.40,26.27,10.20,53.54
$FINISH2,0.1
$STATE,1025,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1025,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,152209
$TT8_MAMPS,0.025466,0.111601
$HUMID,54.09
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.51,81.895
$10V_AH,10.31,72.953
$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,24.025,9.750,61.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.661,240.785,122.878,213.503,124.766,0.000,276.658,0.000,222.971,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1220.940,1243.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333720
$DATA_FILE_SIZE,10776,147
$CAP_FILE_SIZE,23114,0
$CFSIZE,1024409600,908558336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,153821,5913.595,-17033.740,6,0.8,16,8.6,0.5,218.8,11,4.6