version: 66.13
glider: 401
mission: 22
dive: 2815
start: 9 13 117 21 36 38
data:
$ID,401
$MISSION,22
$DIVE,2815
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,130917,212635,5913.7217,-17036.1738,5,0.8,16,8.6,0.0,347.2,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-41.0
$GPS2,130917,213559,5913.8027,-17036.0703,6,0.8,18,8.6,0.9,26.6,10,4.7
$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,146.3,87293,-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,-487.5,239,1938,1900,4092,0.0,0.0,0,20,5.68,0.00,0.00,0.000,2049,0.087,0.000,723,1939,1900,1900,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.25,52.71
$GC,27,-1.80,-487.5,722,1939,1900,4094,0.7,0.0,1,58,11.20,1.15,-10.93,0.000,19204,0.048,1.219,1753,1536,3057,3057,4095,0,0,0,0,0,0,25.90,23.58,25.99,10.26,52.32
$GC,296,-1.80,-487.5,1752,1536,3064,4095,35.6,-13.9,44,302,0.00,0.98,0.00,0.000,1030,0.000,0.027,1753,1952,3064,3064,4095,0,0,0,0,0,0,26.21,26.18,26.23,10.44,50.70
$GC,338,-1.80,-487.5,1752,1952,3065,4095,41.6,-14.2,50,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3065,3065,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.43,50.07
$GC,380,-1.80,-487.5,1753,1952,3066,4095,47.8,-14.5,56,387,0.00,1.10,0.00,0.000,260,0.000,0.045,1753,2374,3066,3066,4095,0,0,0,0,0,0,26.58,26.06,26.58,10.42,49.40
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,443,-0.45,0.0,1753,2118,3067,4094,55.7,-14.5,64,479,4.68,0.00,28.77,1.265,10244,0.055,0.000,2185,2117,2484,2484,4094,0,0,0,0,0,0,26.06,25.11,23.80,10.41,49.72
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,487,1.80,487.5,2185,2116,2484,4094,60.1,0.0,70,528,7.60,0.00,28.40,1.243,11270,0.029,0.000,2900,2116,1915,1915,4095,0,0,0,0,0,0,25.66,25.85,23.44,10.29,48.93
$GC,564,1.80,487.5,2899,2116,1915,4095,54.1,11.7,82,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2116,1915,1915,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.17,47.28
$GC,606,1.80,487.5,2899,2116,1913,4094,48.6,13.0,88,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2116,1913,1913,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.16,47.32
$GC,648,1.80,487.5,2899,2116,1912,4094,43.0,13.5,94,654,0.00,0.98,0.00,0.000,516,0.000,0.046,2900,1740,1912,1912,4094,0,0,0,0,0,0,26.03,25.60,26.04,10.16,48.11
$GC,762,1.80,487.5,2900,1740,1908,4094,28.2,12.8,112,769,0.00,0.95,0.00,0.000,1030,0.000,0.031,2900,2131,1908,1908,4094,0,0,0,0,0,0,25.96,25.93,25.99,10.14,48.26
$GC,805,1.80,487.5,2900,2130,1907,4094,22.4,14.0,118,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1907,1907,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.15,48.42
$GC,847,1.81,489.4,2899,2130,1906,4094,17.7,10.8,124,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1906,1906,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.18,49.44
$GC,889,1.81,489.4,2899,2130,1905,4094,13.1,11.1,130,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1905,1905,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.19,50.74
$GC,930,1.81,489.4,2900,2130,1904,4095,8.4,11.1,136,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1903,1903,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.21,52.04
$GC,972,1.81,489.4,2899,2130,1902,4094,3.5,11.7,142,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1902,1902,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.21,52.63
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,1.4,1.024308,90
$GC,998,0.14,90.0,2900,2130,1901,4094,1.4,12.2,144,1012,5.32,0.00,-4.40,0.000,20998,0.027,0.000,2379,2131,2386,2386,4095,0,0,0,0,0,0,26.22,24.39,26.27,10.22,52.79
$FINISH2,0.2
$STATE,1013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,202108
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.38
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.44,82.295
$10V_AH,10.10,73.276
$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,34.475,5.725,57.175,0.000,0.000,23.574,17.842,267.205,0.000,0.000,20.122,384.174,230.126,134.307,474.215,359.124,0.000,297.031,0.000,223.149,0.000,0.544,0.000
$DEVICE_MAMPS,87.210,1219.410,1264.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333540
$DATA_FILE_SIZE,10765,146
$CAP_FILE_SIZE,27643,0
$CFSIZE,1024409600,907870208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130917,213559,5913.803,-17036.070,6,0.8,18,8.6,0.9,26.6,10,4.7