version: 66.13
glider: 401
mission: 22
dive: 2788
start: 9 13 117 10 19 25
data:
$ID,401
$MISSION,22
$DIVE,2788
$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,24
$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
$GPS1,130917,101007,5916.7725,-17033.0391,34,1.2,40,8.6,0.6,156.1,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-40.8
$GPS2,130917,101846,5916.7534,-17032.9453,7,1.0,16,8.6,0.0,124.4,9,5.0
$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,158.9,21575,-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,-487.5,231,1941,1860,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.096,0.000,942,1941,1861,1861,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.25,53.38
$GC,30,-1.80,-487.5,943,1941,1860,4094,0.6,0.0,1,58,8.68,1.20,-11.57,0.000,19204,0.039,1.216,1756,1516,3056,3056,4094,0,0,0,0,0,0,26.00,23.59,26.06,10.25,52.63
$GC,72,-1.80,-487.5,1755,1516,3056,4094,0.7,-0.1,5,82,0.00,1.02,-0.03,0.000,17414,0.000,0.024,1756,1954,3062,3062,4095,0,0,0,0,0,0,26.03,26.03,25.39,10.51,53.42
$GC,123,-1.80,-487.5,1755,1954,3064,4095,7.8,-15.2,11,131,0.00,1.15,0.00,0.000,516,0.000,0.045,1756,1513,3064,3064,4095,0,0,0,0,0,0,26.24,25.77,26.25,10.51,52.20
$GC,380,-1.80,-487.5,1755,1513,3071,4095,46.9,-14.9,48,390,0.00,1.08,0.00,0.000,1030,0.000,0.026,1756,1963,3071,3071,4095,0,0,0,0,0,0,26.21,26.18,26.24,10.42,50.11
$GC,430,-1.80,-487.5,1755,1963,3072,4095,54.6,-15.5,54,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1963,3073,3073,4094,0,0,0,0,0,0,26.56,26.57,26.57,10.41,49.44
$STATE,447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,461,-0.45,0.0,1756,2140,3073,4094,57.9,-14.6,56,504,4.68,0.00,29.05,1.286,10244,0.055,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.05,24.67,23.80,10.41,48.77
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,512,1.80,487.5,2186,2140,2485,4094,62.2,0.0,61,557,7.57,1.12,28.52,1.267,10756,0.031,0.040,2903,1705,1916,1916,4094,0,0,0,0,0,0,25.58,25.48,23.44,10.29,48.18
$GC,617,1.80,487.5,2902,1704,1914,4094,53.4,12.8,74,626,0.00,1.08,0.00,0.000,1030,0.000,0.029,2903,2134,1914,1914,4094,0,0,0,0,0,0,25.52,25.48,25.55,10.16,47.51
$GC,667,1.80,487.5,2902,2133,1913,4094,47.0,13.0,80,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1912,1912,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.16,46.92
$GC,716,1.80,487.5,2903,2134,1911,4095,40.5,13.3,86,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1912,1912,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.15,47.28
$GC,765,1.80,487.5,2902,2133,1910,4094,34.0,13.3,92,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1910,1910,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,47.83
$GC,813,1.80,487.5,2902,2134,1908,4094,27.3,13.5,98,823,0.00,1.12,0.00,0.000,516,0.000,0.046,2903,1708,1908,1908,4094,0,0,0,0,0,0,26.31,25.84,26.32,10.14,48.07
$GC,955,1.80,487.5,2902,1707,1904,4094,11.2,11.0,118,964,0.00,1.05,0.00,0.000,1030,0.000,0.030,2903,2138,1904,1904,4094,0,0,0,0,0,0,26.11,26.08,26.15,10.20,51.29
$GC,1005,1.86,526.2,2902,2137,1902,4094,5.6,10.2,124,1015,0.10,0.00,3.35,0.312,10246,0.077,0.000,2924,2138,1870,1870,4094,0,0,0,0,0,0,26.28,24.63,24.02,10.21,51.65
$STATE,1029,end climb,FINISH_DEPTH_REACHED
$STATE,1029,begin subsurface finish
$FINISH1,1.8,1.024293,91
$GC,1044,0.14,91.1,2924,2137,1869,4095,1.8,11.9,127,1063,5.50,0.00,-4.80,0.000,20486,0.024,0.000,2385,2144,2381,2381,4095,0,0,0,0,0,0,26.17,25.50,26.23,10.21,51.89
$FINISH2,0.0
$STATE,1064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1064,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,130917,090550
$TT8_MAMPS,0.024717,0.253162
$HUMID,52.16
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.44,81.416
$10V_AH,9.91,72.649
$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,35.025,9.250,60.925,0.000,0.000,22.264,19.250,231.799,0.000,0.000,17.472,362.186,0.000,110.418,770.062,347.029,0.000,330.142,0.000,318.040,0.000,0.542,0.000
$DEVICE_MAMPS,95.625,1216.350,1285.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.509,350.612,277.283,411.729,537.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333532
$DATA_FILE_SIZE,10800,129
$CAP_FILE_SIZE,27188,0
$CFSIZE,1024409600,909197312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130917,101846,5916.753,-17032.945,7,1.0,16,8.6,0.0,124.4,9,5.0