version: 66.13
glider: 401
mission: 22
dive: 2686
start: 9 11 117 15 47 22
data:
$ID,401
$MISSION,22
$DIVE,2686
$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,29
$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,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
$GPS1,110917,153549,5928.9175,-17053.2598,8,0.8,38,8.4,0.7,285.4,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.6
$GPS2,110917,154643,5928.9316,-17053.4629,6,0.8,18,8.4,0.0,283.9,11,4.8
$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,142.6,49875,-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,-487.5,237,1968,1897,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.095,0.000,948,1969,1896,1896,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.25,53.03
$GC,30,-1.80,-487.5,948,1968,1896,4094,0.7,0.0,1,58,8.65,1.17,-11.05,0.000,18692,0.039,1.206,1755,2367,3055,3055,4094,0,0,0,0,0,0,25.96,23.61,26.02,10.26,52.08
$GC,137,-1.80,-487.5,1754,2367,3057,4094,9.4,-16.7,15,146,0.00,1.05,0.00,0.000,1030,0.000,0.031,1755,1948,3058,3058,4095,0,0,0,0,0,0,26.01,25.96,26.03,10.51,51.57
$GC,187,-1.80,-487.5,1754,1948,3060,4095,18.2,-18.3,21,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3060,3060,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.51,51.37
$GC,235,-1.80,-487.5,1754,1948,3061,4095,25.9,-14.6,27,244,0.00,1.08,0.00,0.000,516,0.000,0.051,1755,1524,3061,3061,4095,0,0,0,0,0,0,26.46,25.94,26.47,10.47,51.18
$GC,337,-1.80,-487.5,1755,1524,3063,4095,40.6,-14.3,41,346,0.00,1.00,0.00,0.000,1030,0.000,0.027,1754,1950,3064,3064,4095,0,0,0,0,0,0,26.22,26.23,26.25,10.41,49.60
$GC,386,-1.80,-487.5,1754,1950,3065,4095,47.8,-14.8,47,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3065,3065,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.40,48.42
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,444,-0.45,0.0,1755,2139,3066,4095,55.1,-14.9,53,480,4.68,0.00,28.83,1.267,10244,0.055,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.07,25.13,23.84,10.39,47.75
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,488,1.80,487.5,2186,2139,2484,4094,59.8,0.0,57,531,7.62,0.00,28.35,1.242,11270,0.030,0.000,2902,2139,1917,1917,4094,0,0,0,0,0,0,25.65,25.84,23.49,10.27,47.16
$GC,574,1.80,487.5,2901,2139,1916,4094,53.7,12.3,67,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1916,1916,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.14,46.10
$GC,624,1.80,487.5,2901,2138,1915,4094,47.0,13.0,73,634,0.00,1.12,0.00,0.000,516,0.000,0.045,2902,1716,1915,1915,4094,0,0,0,0,0,0,25.92,25.48,25.93,10.14,47.08
$GC,774,1.80,487.5,2901,1715,1910,4094,27.3,13.2,94,783,0.00,1.00,0.00,0.000,1030,0.000,0.029,2902,2125,1910,1910,4094,0,0,0,0,0,0,25.99,25.92,25.96,10.12,47.83
$GC,825,1.80,487.5,2901,2125,1908,4094,20.8,12.2,100,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1908,1908,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.16,48.26
$GC,876,1.80,487.5,2901,2125,1907,4094,15.2,10.9,106,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1907,1907,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.19,50.23
$GC,925,1.80,487.5,2902,2125,1905,4094,9.6,11.4,112,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1906,1906,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.20,51.22
$GC,975,1.80,487.5,2902,2125,1904,4094,3.9,11.6,118,984,0.00,1.08,0.00,0.000,516,0.000,0.044,2902,1714,1904,1904,4095,0,0,0,0,0,0,26.47,25.97,26.48,10.21,51.85
$STATE,992,end climb,FINISH_DEPTH_REACHED
$STATE,992,begin subsurface finish
$FINISH1,1.2,1.024327,89
$GC,1009,0.13,88.7,2902,2154,1903,4094,1.2,11.0,120,1028,5.28,1.27,-4.45,0.000,20996,0.021,1.214,2387,1712,2386,2386,4094,0,0,0,0,0,0,26.17,23.77,26.22,10.22,52.12
$FINISH2,0.0
$STATE,1029,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1029,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,110917,142933
$TT8_MAMPS,0.025466,0.256158
$HUMID,52.28
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.49,78.508
$10V_AH,9.94,70.288
$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,34.725,10.325,57.175,0.000,0.000,25.920,21.073,281.362,0.000,0.000,19.290,357.368,0.000,111.449,779.937,433.619,0.000,325.118,0.000,301.632,0.000,0.542,0.000
$DEVICE_MAMPS,94.860,1214.055,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.887,331.421,262.348,389.109,505.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333588
$DATA_FILE_SIZE,10786,122
$CAP_FILE_SIZE,26960,0
$CFSIZE,1024409600,887488512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110917,154643,5928.932,-17053.463,6,0.8,18,8.4,0.0,283.9,11,4.8