version: 66.13
glider: 401
mission: 22
dive: 2818
start: 9 13 117 22 45 26
data:
$ID,401
$MISSION,22
$DIVE,2818
$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,16
$R_STBD_OVSHOOT,57
$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
$GPS1,130917,223448,5913.7617,-17035.1055,4,0.8,29,8.6,0.7,97.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-39.1
$GPS2,130917,224446,5913.8096,-17034.9355,6,0.9,37,8.6,0.2,36.1,9,5.0
$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,147.0,86845,-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,-487.5,231,1954,1864,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.103,0.000,930,1953,1864,1864,4094,0,0,0,0,0,0,26.40,28.83,28.83,10.25,53.34
$GC,30,-1.80,-487.5,930,1953,1864,4094,0.7,0.0,1,56,8.73,1.17,-11.35,0.000,19204,0.037,1.206,1754,2344,3057,3057,4095,0,0,0,0,0,0,26.01,23.59,26.06,10.26,52.63
$GC,319,-1.80,-487.5,1754,2345,3064,4095,34.6,-13.8,42,328,0.00,1.02,0.00,0.000,1030,0.000,0.031,1755,1934,3064,3064,4094,0,0,0,0,0,0,26.18,26.15,26.22,10.45,50.51
$GC,370,-1.80,-487.5,1754,1934,3066,4094,41.8,-14.4,48,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.44,49.96
$GC,421,-1.80,-487.5,1754,1934,3067,4095,49.4,-14.7,54,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3067,3067,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.42,49.29
$STATE,457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,457,begin apogee
$GC,471,-0.45,0.0,1755,2115,3068,4095,55.9,-14.7,59,508,4.65,0.00,29.00,1.268,10244,0.056,0.000,2185,2115,2484,2484,4095,0,0,0,0,0,0,26.09,25.12,23.80,10.41,48.46
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,515,1.80,487.5,2184,2115,2484,4095,60.9,0.0,63,561,7.50,1.08,28.60,1.243,10756,0.028,0.043,2904,1705,1915,1915,4094,0,0,0,0,0,0,25.55,25.51,23.44,10.30,47.67
$GC,620,1.80,487.5,2904,1705,1913,4094,51.7,13.0,76,630,0.00,1.08,0.00,0.000,1030,0.000,0.029,2904,2137,1913,1913,4094,0,0,0,0,0,0,25.53,25.50,25.58,10.17,46.73
$GC,670,1.80,487.5,2904,2135,1911,4094,45.1,13.3,82,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1911,1911,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.15,47.36
$GC,719,1.80,487.5,2903,2135,1910,4094,38.7,12.9,88,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1910,1910,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.15,47.36
$GC,767,1.80,487.5,2904,2135,1908,4094,32.3,13.3,94,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1908,1908,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.14,47.48
$GC,816,1.80,487.5,2904,2135,1907,4094,25.8,13.4,100,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1907,1907,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.14,47.55
$GC,865,1.80,487.5,2904,2135,1906,4094,19.7,11.4,106,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1904,1904,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.18,48.38
$GC,914,1.80,487.5,2903,2135,1904,4094,14.4,10.9,112,923,0.00,1.12,0.00,0.000,516,0.000,0.044,2904,1706,1904,1904,4095,0,0,0,0,0,0,26.43,25.93,26.44,10.20,50.00
$STATE,1023,end climb,FINISH_DEPTH_REACHED
$STATE,1023,begin subsurface finish
$FINISH1,1.4,1.024294,91
$GC,1039,0.14,91.0,2904,2145,1900,4095,1.4,11.3,128,1058,5.30,0.00,-4.45,0.000,20486,0.022,0.000,2381,2154,2382,2382,4094,0,0,0,0,0,0,26.24,25.52,26.28,10.22,52.20
$FINISH2,0.1
$STATE,1059,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1059,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,213029
$TT8_MAMPS,0.025466,0.25466
$HUMID,52.20
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.44,82.378
$10V_AH,9.89,73.352
$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,34.675,7.150,57.600,0.000,0.000,25.419,23.857,277.940,0.000,0.000,39.184,367.145,0.000,104.374,849.326,343.147,0.000,314.169,0.000,319.088,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1206.405,1268.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.392,353.319,279.379,414.541,541.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333544
$DATA_FILE_SIZE,14451,130
$CAP_FILE_SIZE,25774,0
$CFSIZE,1024409600,907722752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130917,224446,5913.810,-17034.936,6,0.9,37,8.6,0.2,36.1,9,5.0