version: 66.13
glider: 401
mission: 22
dive: 2842
start: 9 14 117 8 0 12
data:
$ID,401
$MISSION,22
$DIVE,2842
$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,15
$R_STBD_OVSHOOT,53
$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
$GPS1,140917,075042,5908.2109,-17033.6660,5,0.8,17,8.6,0.2,315.6,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-43.9
$GPS2,140917,075932,5908.2632,-17033.7617,7,0.8,17,8.6,0.6,324.6,10,4.7
$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,144.6,77091,-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,-487.5,236,1960,1902,4092,0.0,0.0,0,23,8.48,0.00,0.00,0.000,2049,0.098,0.000,941,1959,1902,1902,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.24,52.95
$GC,30,-1.80,-487.5,941,1959,1902,4094,0.8,0.0,1,57,8.80,1.15,-10.93,0.000,18692,0.050,1.203,1750,2348,3055,3055,4094,0,0,0,0,0,0,25.97,23.56,26.00,10.25,53.15
$GC,189,-1.80,-487.5,1749,2348,3060,4094,20.1,-17.9,22,198,0.00,1.02,0.00,0.000,1030,0.000,0.030,1750,1944,3060,3060,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.48,52.08
$GC,240,-1.80,-487.5,1750,1944,3061,4094,28.1,-14.5,28,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1944,3061,3061,4094,0,0,0,0,0,0,26.49,26.50,26.50,10.45,52.08
$GC,291,-1.80,-487.5,1749,1944,3062,4094,35.6,-14.4,34,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,1944,3062,3062,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.43,50.43
$GC,340,-1.80,-487.5,1749,1944,3064,4095,43.0,-14.9,40,350,0.00,1.10,0.00,0.000,516,0.000,0.050,1750,1510,3064,3064,4095,0,0,0,0,0,0,26.55,26.01,26.57,10.42,49.72
$GC,409,-1.80,-487.5,1749,1510,3066,4095,53.7,-15.2,49,419,0.00,0.98,0.00,0.000,1030,0.000,0.028,1750,1929,3066,3066,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.40,48.70
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,441,-0.45,0.0,1750,2136,3066,4095,57.3,-15.2,51,485,4.72,0.00,29.02,1.299,10244,0.054,0.000,2186,2136,2484,2484,4095,0,0,0,0,0,0,26.07,25.08,23.75,10.40,49.17
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,493,1.80,487.5,2185,2136,2484,4095,61.9,0.0,56,536,7.60,0.00,28.62,1.273,11270,0.029,0.000,2901,2136,1915,1915,4095,0,0,0,0,0,0,25.68,25.88,23.39,10.29,48.93
$GC,579,1.80,487.5,2900,2136,1914,4095,55.6,12.1,66,588,0.00,1.17,0.00,0.000,516,0.000,0.046,2901,1703,1914,1914,4094,0,0,0,0,0,0,25.71,25.32,25.72,10.16,47.48
$GC,720,1.80,487.5,2900,1703,1910,4094,36.8,13.2,86,729,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2121,1910,1910,4094,0,0,0,0,0,0,25.89,25.84,25.90,10.14,48.30
$GC,770,1.80,487.5,2900,2121,1908,4094,30.5,12.5,92,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2121,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.14,48.11
$GC,819,1.80,487.5,2900,2120,1907,4094,24.3,12.7,98,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2121,1907,1907,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.15,48.38
$GC,868,1.80,487.5,2900,2120,1905,4094,18.0,12.8,104,877,0.00,1.10,0.00,0.000,516,0.000,0.047,2901,1706,1905,1905,4094,0,0,0,0,0,0,26.40,25.89,26.41,10.17,48.93
$STATE,1017,end climb,FINISH_DEPTH_REACHED
$STATE,1017,begin subsurface finish
$FINISH1,1.5,1.024316,89
$GC,1039,0.13,89.5,2901,2144,1901,4094,1.5,10.5,126,1057,5.30,0.00,-4.47,0.000,20486,0.022,0.000,2382,2144,2384,2384,4094,0,0,0,0,0,0,26.24,25.53,26.29,10.21,52.16
$FINISH2,0.1
$STATE,1058,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,064554
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.20
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.39,83.032
$10V_AH,9.88,73.887
$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,34.900,9.225,57.650,0.000,0.000,23.374,18.016,239.427,0.000,0.000,18.800,366.412,0.000,107.547,771.713,349.683,0.000,318.934,0.000,315.255,0.000,0.542,0.000
$DEVICE_MAMPS,97.920,1203.345,1298.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.950,347.864,275.127,407.994,531.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333568
$DATA_FILE_SIZE,10882,128
$CAP_FILE_SIZE,26078,0
$CFSIZE,1024409600,906543104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140917,075932,5908.263,-17033.762,7,0.8,17,8.6,0.6,324.6,10,4.7