version: 66.13
glider: 401
mission: 22
dive: 2803
start: 9 13 117 16 48 30
data:
$ID,401
$MISSION,22
$DIVE,2803
$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,24
$R_STBD_OVSHOOT,58
$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
$GPS1,130917,163826,5913.1191,-17034.6055,5,0.8,16,8.6,0.4,225.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-42.8
$GPS2,130917,164750,5913.1079,-17034.8535,7,0.8,18,8.6,0.3,286.0,10,4.9
$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,146.6,85630,-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,-487.5,239,1947,1901,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,2049,0.096,0.000,708,1940,1901,1901,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.27,52.59
$GC,27,-1.80,-487.5,708,1940,1901,4094,0.8,0.0,1,57,11.40,1.20,-11.07,0.000,19204,0.050,1.213,1753,2344,3055,3055,4095,0,0,0,0,0,0,25.92,23.61,26.01,10.26,52.67
$GC,76,-1.80,-487.5,1753,2345,3055,4095,-0.1,0.5,8,82,0.00,1.00,0.00,0.000,1030,0.000,0.030,1753,1952,3056,3056,4094,0,0,0,0,0,0,25.99,25.98,26.03,10.52,52.44
$GC,118,-1.80,-487.5,1753,1952,3057,4094,5.1,-14.6,14,125,0.00,1.10,0.00,0.000,516,0.000,0.054,1753,1523,3057,3057,4095,0,0,0,0,0,0,26.37,25.82,26.38,10.51,52.48
$GC,357,-1.80,-487.5,1753,1522,3064,4095,43.0,-15.2,52,363,0.00,0.95,0.00,0.000,1030,0.000,0.026,1753,1934,3064,3064,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.43,50.35
$GC,399,-1.80,-487.5,1753,1934,3065,4094,49.4,-15.2,58,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1934,3065,3065,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.42,49.48
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,449,-0.45,0.0,1753,2135,3066,4095,55.9,-15.7,64,485,4.68,0.00,28.65,1.259,10244,0.056,0.000,2185,2135,2484,2484,4095,0,0,0,0,0,0,26.07,25.13,23.83,10.42,49.84
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2186,2135,2484,4095,60.2,0.0,70,535,7.57,0.00,28.25,1.241,11270,0.029,0.000,2902,2135,1915,1915,4094,0,0,0,0,0,0,25.70,25.87,23.46,10.29,49.01
$GC,571,1.80,487.5,2901,2135,1915,4094,54.6,12.1,82,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1915,1915,4094,0,0,0,0,0,0,25.70,25.70,25.70,10.17,47.44
$GC,613,1.80,487.5,2901,2135,1914,4094,49.1,13.5,88,619,0.00,1.15,0.00,0.000,516,0.000,0.046,2902,1707,1914,1914,4094,0,0,0,0,0,0,25.91,25.47,25.91,10.16,47.63
$GC,763,1.80,487.5,2901,1706,1909,4094,30.1,12.9,112,770,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2125,1909,1909,4094,0,0,0,0,0,0,25.98,25.93,25.99,10.14,48.54
$GC,806,1.80,487.5,2901,2125,1908,4094,24.5,13.5,118,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1908,1908,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.14,49.05
$GC,847,1.80,487.5,2902,2125,1907,4094,19.7,11.1,124,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1907,1907,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.18,50.47
$GC,889,1.83,503.9,2901,2125,1906,4094,15.3,10.5,130,896,0.00,0.00,2.33,0.139,8198,0.000,0.000,2902,2125,1896,1896,4094,0,0,0,0,0,0,26.44,24.89,23.70,10.20,51.61
$GC,932,1.83,503.9,2901,2125,1895,4094,10.3,11.4,136,939,0.00,1.10,0.00,0.000,516,0.000,0.047,2902,1708,1895,1895,4094,0,0,0,0,0,0,26.46,25.96,26.48,10.20,52.87
$STATE,1004,end climb,FINISH_DEPTH_REACHED
$STATE,1004,begin subsurface finish
$FINISH1,2.0,1.024309,90
$GC,1021,0.13,89.9,2902,2144,1893,4095,2.0,10.3,148,1034,5.28,0.00,-4.30,0.000,20486,0.018,0.000,2383,2145,2386,2386,4094,0,0,0,0,0,0,26.22,24.41,26.27,10.22,52.95
$FINISH2,0.2
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,153317
$TT8_MAMPS,0.025466,0.134071
$HUMID,53.81
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.46,81.955
$10V_AH,10.19,73.000
$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,34.525,9.175,59.225,0.000,0.000,24.205,16.401,268.974,0.000,0.000,19.335,397.495,243.696,131.269,480.054,352.983,0.000,294.157,0.000,228.902,0.000,0.543,0.000
$DEVICE_MAMPS,96.390,1213.290,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333584
$DATA_FILE_SIZE,10842,150
$CAP_FILE_SIZE,28329,0
$CFSIZE,1024409600,908460032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130917,164750,5913.108,-17034.854,7,0.8,18,8.6,0.3,286.0,10,4.9