version: 66.13
glider: 401
mission: 22
dive: 2807
start: 9 13 117 18 16 20
data:
$ID,401
$MISSION,22
$DIVE,2807
$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,25
$R_STBD_OVSHOOT,37
$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
$GPS1,130917,175613,5912.8511,-17035.8809,7,0.8,20,8.6,0.9,311.1,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.6
$GPS2,130917,175613,5912.8511,-17035.8809,7,0.8,20,8.6,0.9,311.1,10,4.8
$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,145.9,85621,-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,-487.5,2384,1946,2383,4092,0.0,0.0,0,30,6.32,0.00,-6.40,0.000,20486,0.021,0.000,1765,1946,3057,3057,4095,0,0,0,0,0,0,26.19,24.31,26.21,10.34,52.52
$GC,37,-1.80,-487.5,1764,1946,3057,4095,0.2,-2.0,3,44,0.00,1.10,0.00,0.000,516,0.000,0.057,1764,1520,3057,3057,4095,0,0,0,0,0,0,26.43,25.96,26.44,10.48,53.03
$GC,282,-1.80,-487.5,1764,1520,3064,4095,34.4,-13.7,42,289,0.00,1.00,0.00,0.000,1030,0.000,0.027,1765,1947,3064,3064,4094,0,0,0,0,0,0,26.30,26.27,26.33,10.43,51.96
$GC,325,-1.80,-487.5,1764,1946,3065,4094,40.4,-14.4,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1947,3065,3065,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.43,51.92
$GC,366,-1.80,-487.5,1764,1946,3066,4094,46.5,-14.8,54,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1946,3066,3066,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.41,50.63
$GC,408,-1.80,-487.5,1764,1946,3067,4095,52.5,-14.2,60,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1947,3067,3067,4094,0,0,0,0,0,0,26.67,26.68,26.67,10.40,50.47
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,440,-0.45,0.0,1764,2133,3068,4095,55.9,-14.3,63,476,4.55,0.00,28.62,1.255,10244,0.054,0.000,2185,2133,2484,2484,4094,0,0,0,0,0,0,26.15,25.19,23.89,10.39,49.88
$STATE,477,end apogee,CONTROL_FINISHED_OK
$STATE,477,begin climb
$GC,484,1.80,487.5,2184,2133,2484,4094,59.9,0.0,69,525,7.57,0.00,28.15,1.237,11270,0.028,0.000,2900,2133,1916,1916,4094,0,0,0,0,0,0,25.72,25.92,23.50,10.28,50.03
$GC,561,1.80,487.5,2899,2133,1915,4094,54.3,11.6,81,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1915,1915,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.15,48.26
$GC,603,1.80,487.5,2899,2132,1914,4094,48.8,12.8,87,610,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1706,1914,1914,4094,0,0,0,0,0,0,25.91,25.48,25.92,10.15,49.05
$GC,747,1.80,487.5,2899,1706,1909,4094,29.9,12.9,110,754,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2126,1909,1909,4095,0,0,0,0,0,0,25.96,25.93,25.99,10.13,48.97
$GC,790,1.80,487.5,2899,2126,1908,4095,24.5,12.8,116,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2126,1908,1908,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.13,49.80
$GC,832,1.80,487.5,2899,2126,1907,4094,19.4,12.2,122,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1907,1907,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.17,50.55
$GC,874,1.80,487.5,2899,2126,1906,4094,14.8,11.4,128,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1905,1905,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.19,51.26
$GC,915,1.80,487.5,2899,2126,1905,4095,10.1,11.4,134,929,0.00,1.08,0.00,0.000,516,0.000,0.051,2900,1714,1904,1904,4094,0,0,0,0,0,0,26.47,25.93,26.48,10.20,52.00
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,1.5,1.024308,90
$GC,999,0.13,90.0,2900,2145,1902,4094,1.5,12.0,144,1013,5.25,0.00,-4.43,0.000,20486,0.023,0.000,2385,2145,2384,2384,4094,0,0,0,0,0,0,26.22,24.41,26.27,10.21,53.89
$FINISH2,0.0
$STATE,1014,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,164220
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.62
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.50,82.056
$10V_AH,10.28,73.085
$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,23.700,7.425,56.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,378.157,239.481,122.581,211.960,124.711,0.000,281.389,0.000,221.487,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,56.610,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333696
$DATA_FILE_SIZE,10781,146
$CAP_FILE_SIZE,22312,0
$CFSIZE,1024409600,908263424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,916.03,0x236162,1,24
$GPS,130917,175613,5912.851,-17035.881,7,0.8,20,8.6,0.9,311.1,10,4.8