version: 66.13
glider: 401
mission: 22
dive: 2684
start: 9 11 117 14 56 38
data:
$ID,401
$MISSION,22
$DIVE,2684
$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,22
$R_STBD_OVSHOOT,19
$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,2
$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
$GPS1,110917,143531,5929.4800,-17052.5859,5,0.8,25,8.4,0.3,266.3,10,4.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.5
$GPS2,110917,143531,5929.4800,-17052.5859,5,0.8,25,8.4,0.3,266.3,10,4.7
$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,144.0,50374,-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,-487.5,2382,1957,2386,4092,0.0,0.0,0,23,6.32,0.00,-2.05,0.000,20482,0.021,0.000,1761,1957,2603,2603,4094,0,0,0,0,0,0,26.27,28.83,26.32,10.33,54.21
$GC,30,-1.80,-487.5,1761,1957,2603,4094,0.2,0.0,1,40,0.00,1.25,-4.30,0.000,16644,0.000,1.218,1761,2389,3056,3056,4095,0,0,0,0,0,0,26.57,23.89,26.57,10.38,53.38
$GC,147,-1.80,-487.5,1760,2389,3059,4095,14.6,-17.8,17,157,0.00,1.12,0.00,0.000,1030,0.000,0.031,1761,1940,3059,3059,4095,0,0,0,0,0,0,26.19,26.15,26.22,10.48,53.18
$GC,199,-1.80,-487.5,1760,1940,3061,4095,23.5,-17.1,23,208,0.00,1.08,0.00,0.000,516,0.000,0.052,1761,1516,3061,3061,4094,0,0,0,0,0,0,26.58,26.05,26.59,10.45,53.34
$GC,275,-1.80,-487.5,1760,1516,3063,4094,34.6,-14.3,33,284,0.00,1.02,0.00,0.000,1030,0.000,0.028,1761,1952,3063,3063,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.41,51.69
$GC,325,-1.80,-487.5,1760,1952,3064,4094,41.8,-14.6,39,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1952,3064,3064,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.39,50.74
$GC,374,-1.80,-487.5,1760,1951,3066,4095,48.9,-14.5,45,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1952,3066,3066,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.38,49.80
$STATE,410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,410,begin apogee
$GC,425,-0.45,0.0,1761,2141,3067,4095,55.0,-14.4,50,461,4.57,0.00,28.73,1.265,10244,0.055,0.000,2184,2142,2484,2484,4095,0,0,0,0,0,0,26.15,25.19,23.90,10.38,49.40
$STATE,462,end apogee,CONTROL_FINISHED_OK
$STATE,462,begin climb
$GC,468,1.80,487.5,2184,2141,2484,4095,59.3,0.0,54,512,7.62,0.00,28.40,1.240,11270,0.031,0.000,2901,2142,1914,1914,4094,0,0,0,0,0,0,25.71,25.91,23.51,10.25,49.13
$GC,554,1.80,487.5,2900,2141,1914,4094,52.9,12.2,64,564,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1717,1914,1914,4094,0,0,0,0,0,0,25.73,25.34,25.74,10.13,47.28
$GC,709,1.80,487.5,2900,1716,1909,4094,32.6,12.8,86,717,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2124,1909,1909,4095,0,0,0,0,0,0,25.89,25.85,25.92,10.10,47.79
$GC,758,1.80,487.5,2900,2123,1908,4095,26.3,13.0,92,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1908,1908,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.10,48.26
$GC,807,1.80,487.5,2900,2123,1907,4095,20.1,12.1,98,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1906,1906,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.13,48.97
$GC,856,1.85,515.7,2900,2123,1905,4094,15.0,10.4,104,866,0.00,0.00,2.95,0.290,8198,0.000,0.000,2901,2123,1882,1882,4094,0,0,0,0,0,0,26.40,24.58,23.92,10.17,50.11
$GC,908,1.85,515.7,2900,2123,1881,4094,9.6,11.0,110,916,0.00,1.10,0.00,0.000,516,0.000,0.046,2901,1707,1881,1881,4094,0,0,0,0,0,0,26.42,25.94,26.44,10.17,51.73
$STATE,969,end climb,FINISH_DEPTH_REACHED
$STATE,970,begin subsurface finish
$FINISH1,1.7,1.024323,89
$GC,986,0.13,89.0,2900,2140,1879,4094,1.7,11.7,119,1003,5.28,0.00,-4.65,0.000,20486,0.020,0.000,2379,2142,2385,2385,4094,0,0,0,0,0,0,26.22,25.53,26.25,10.19,52.67
$FINISH2,0.2
$STATE,1004,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1005,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,110917,142742
$TT8_MAMPS,0.025466,0.244923
$HUMID,53.07
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.51,78.448
$10V_AH,9.93,70.241
$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,23.800,9.700,60.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,345.637,0.000,99.529,503.435,119.830,0.000,294.808,0.000,296.569,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1217.880,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.507,328.684,260.224,385.920,502.431,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333724
$DATA_FILE_SIZE,10798,121
$CAP_FILE_SIZE,21986,0
$CFSIZE,1024409600,887586816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110917,143531,5929.480,-17052.586,5,0.8,25,8.4,0.3,266.3,10,4.7