version: 66.13
glider: 401
mission: 22
dive: 2827
start: 9 14 117 2 14 54
data:
$ID,401
$MISSION,22
$DIVE,2827
$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,51
$R_STBD_OVSHOOT,55
$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
$GPS1,140917,020402,5912.1533,-17031.7578,5,0.8,29,8.6,0.4,143.8,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-44.8
$GPS2,140917,021415,5912.0552,-17031.7344,7,0.8,18,8.6,0.0,159.9,10,4.6
$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,148.0,82619,-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,-487.5,230,1987,1879,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.103,0.000,694,1983,1879,1879,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.26,52.75
$GC,27,-1.80,-487.5,693,1982,1880,4094,0.8,0.0,1,57,11.57,1.05,-11.12,0.000,19204,0.050,1.202,1754,2349,3055,3055,4095,0,0,0,0,0,0,25.94,23.54,26.00,10.26,52.67
$GC,69,-1.80,-487.5,1754,2349,3055,4095,0.6,-1.9,7,76,0.00,0.95,0.00,0.000,1030,0.000,0.030,1754,1978,3055,3055,4095,0,0,0,0,0,0,25.96,25.94,25.99,10.51,52.24
$GC,112,-1.80,-487.5,1754,1978,3057,4095,6.5,-15.0,13,118,0.00,1.00,0.00,0.000,260,0.000,0.046,1755,2348,3057,3057,4095,0,0,0,0,0,0,26.34,25.86,26.35,10.51,52.08
$GC,130,-1.80,-487.5,1754,2347,3057,4095,9.6,-16.8,15,136,0.00,1.02,0.00,0.000,1030,0.000,0.029,1754,1947,3057,3057,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.51,52.28
$GC,172,-1.80,-487.5,1754,1947,3059,4094,17.4,-18.8,21,179,0.00,1.08,0.00,0.000,260,0.000,0.045,1754,2349,3059,3059,4094,0,0,0,0,0,0,26.41,25.91,26.42,10.51,51.65
$GC,416,-1.80,-487.5,1754,2349,3066,4094,53.3,-14.7,60,423,0.00,1.00,0.00,0.000,1030,0.000,0.030,1754,1953,3066,3066,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.42,49.56
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,442,-0.45,0.0,1754,2118,3067,4095,56.0,-15.5,62,479,4.70,0.00,28.73,1.265,10244,0.056,0.000,2186,2118,2484,2484,4094,0,0,0,0,0,0,26.05,25.10,23.79,10.42,49.33
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,486,1.80,487.5,2186,2117,2484,4094,60.5,0.0,68,528,7.57,0.00,28.35,1.242,11270,0.030,0.000,2902,2118,1916,1916,4094,0,0,0,0,0,0,25.67,25.86,23.43,10.30,49.01
$GC,564,1.80,487.5,2901,2117,1915,4094,54.4,12.0,80,570,0.00,1.10,0.00,0.000,516,0.000,0.047,2902,1709,1915,1915,4094,0,0,0,0,0,0,25.67,25.27,25.69,10.17,47.87
$GC,690,1.80,487.5,2901,1708,1911,4094,38.0,12.8,100,697,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2128,1911,1911,4094,0,0,0,0,0,0,25.84,25.81,25.87,10.15,48.11
$GC,733,1.80,487.5,2901,2127,1910,4094,32.6,13.2,106,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1910,1910,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,48.14
$GC,775,1.80,487.5,2900,2127,1908,4094,27.2,13.0,112,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1908,1908,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.14,48.70
$GC,817,1.80,487.5,2900,2127,1907,4094,22.2,11.9,118,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1907,1907,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.16,49.25
$GC,859,1.88,541.0,2901,2127,1906,4094,17.9,10.0,124,872,0.15,1.12,4.40,0.493,10756,0.056,0.046,2929,1704,1851,1851,4095,0,0,0,0,0,0,26.18,25.23,23.99,10.18,50.23
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.6,1.024255,94
$GC,1016,0.14,93.7,2928,2144,1847,4094,1.6,11.5,146,1029,5.55,0.00,-4.82,0.000,20486,0.020,0.000,2385,2145,2379,2379,4094,0,0,0,0,0,0,26.19,24.38,26.24,10.21,53.15
$FINISH2,0.1
$STATE,1030,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1030,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,005826
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.43,82.626
$10V_AH,10.10,73.544
$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,35.200,10.850,61.475,0.000,0.000,23.059,21.267,309.851,0.000,0.000,19.450,393.053,234.935,135.316,525.274,359.783,0.000,298.278,0.000,226.243,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1201.815,1265.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333568
$DATA_FILE_SIZE,10804,148
$CAP_FILE_SIZE,28553,0
$CFSIZE,1024409600,907280384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140917,021415,5912.055,-17031.734,7,0.8,18,8.6,0.0,159.9,10,4.6