version: 66.13
glider: 401
mission: 22
dive: 2113
start: 9 1 117 22 57 22
data:
$ID,401
$MISSION,22
$DIVE,2113
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,600
$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,27
$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,2
$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
$GPS1,010917,224621,6006.7891,-17315.0332,4,0.8,15,7.3,0.0,310.9,11,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-40.8
$GPS2,010917,225643,6006.9019,-17315.2070,7,0.8,17,7.3,0.5,303.6,11,4.9
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,103.1,107641,-10.3,-10.526,-13.92,8308
$D_GRID,60
$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,11,-1.82,-585.0,237,1950,1786,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.095,0.000,708,1950,1787,1787,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.53
$GC,24,-1.82,-585.0,708,1950,1787,4094,0.6,0.0,1,54,11.45,0.00,-13.25,0.000,18950,0.054,0.000,1751,1951,3172,3172,4095,0,0,0,0,0,0,25.89,24.31,25.96,10.27,51.26
$GC,89,-1.82,-585.0,1751,1950,3173,4095,3.7,-12.8,11,95,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1951,3173,3173,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.57,51.29
$GC,130,-1.82,-585.0,1751,1950,3175,4095,11.0,-18.4,17,136,0.00,1.15,0.00,0.000,260,0.000,0.044,1752,2377,3175,3175,4095,0,0,0,0,0,0,26.29,25.85,26.30,10.57,50.70
$GC,195,-1.82,-585.0,1752,2377,3177,4095,22.6,-16.3,27,202,0.00,1.08,0.00,0.000,1030,0.000,0.028,1752,1947,3177,3177,4095,0,0,0,0,0,0,26.03,25.98,26.05,10.55,50.94
$GC,237,-1.82,-585.0,1752,1947,3178,4095,28.5,-14.6,33,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3178,3178,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.52,49.92
$GC,277,-1.82,-585.0,1752,1947,3179,4094,34.5,-14.3,39,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3179,3179,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.50,49.52
$GC,318,-1.82,-585.0,1751,1947,3179,4094,40.3,-14.4,45,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3180,3180,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.48,48.46
$GC,358,-1.82,-585.0,1752,1947,3180,4095,46.3,-15.2,51,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3181,3181,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,48.07
$GC,399,-1.82,-585.0,1752,1947,3182,4095,52.1,-13.9,57,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3182,3182,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.46,47.12
$GC,440,-1.82,-585.0,1752,1947,3183,4094,57.9,-14.8,63,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3183,3183,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,47.20
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,463,-0.45,0.0,1752,2147,3183,4095,60.3,-14.6,65,504,4.70,0.00,33.70,1.327,10244,0.054,0.000,2185,2146,2485,2485,4095,0,0,0,0,0,0,26.06,25.10,23.96,10.44,47.04
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,511,1.82,585.0,2185,2146,2484,4095,64.0,0.0,72,558,7.68,0.00,33.50,1.291,11270,0.029,0.000,2903,2147,1802,1802,4094,0,0,0,0,0,0,25.46,25.62,23.61,10.30,46.88
$GC,593,1.82,585.0,2902,2146,1800,4094,57.0,12.9,85,600,0.00,1.17,0.00,0.000,516,0.000,0.041,2903,1713,1801,1801,4094,0,0,0,0,0,0,25.44,25.10,25.44,10.14,45.70
$GC,671,1.82,585.0,2902,1713,1798,4094,46.6,13.2,97,677,0.00,1.05,0.00,0.000,1030,0.000,0.029,2903,2134,1798,1798,4094,0,0,0,0,0,0,25.53,25.49,25.55,10.13,45.62
$GC,712,1.82,585.0,2902,2133,1797,4094,41.3,12.7,103,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1797,1797,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.12,46.02
$GC,753,1.82,585.0,2902,2133,1796,4094,36.0,12.7,109,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1796,1796,4094,0,0,0,0,0,0,26.03,26.03,26.03,10.12,46.88
$GC,794,1.82,585.0,2902,2133,1795,4094,30.9,12.8,115,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1794,1794,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.11,46.96
$GC,834,1.82,585.0,2902,2133,1794,4094,25.7,12.3,121,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1794,1794,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,46.96
$GC,875,1.82,585.0,2902,2133,1792,4094,20.8,11.7,127,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1792,1792,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.12,47.48
$GC,916,1.82,585.0,2902,2133,1791,4094,16.3,11.3,133,922,0.00,1.10,0.00,0.000,516,0.000,0.044,2903,1716,1791,1791,4094,0,0,0,0,0,0,26.27,25.84,26.28,10.16,48.42
$GC,1023,1.86,614.3,2902,1715,1788,4094,5.7,10.2,150,1031,0.00,1.02,2.83,0.233,9222,0.000,0.029,2903,2136,1766,1766,4094,0,0,0,0,0,0,26.06,26.03,24.46,10.20,52.04
$STATE,1054,end climb,FINISH_DEPTH_REACHED
$STATE,1054,begin subsurface finish
$FINISH1,1.8,1.024143,102
$GC,1067,0.15,101.5,2903,2136,1764,4094,1.8,10.8,155,1081,5.32,0.00,-5.32,0.000,20486,0.031,0.000,2386,2136,2371,2371,4094,0,0,0,0,0,0,26.13,24.40,26.17,10.21,52.75
$FINISH2,0.2
$STATE,1082,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1082,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,213841
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.63
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.61,61.767
$10V_AH,10.20,56.993
$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,34.775,7.075,70.025,0.000,0.000,24.451,20.178,296.192,0.000,0.000,18.482,408.422,228.996,164.364,528.702,378.963,0.000,348.939,0.000,238.766,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,44.370,1326.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10779,157
$CAP_FILE_SIZE,32326,0
$CFSIZE,1024409600,915652608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010917,225643,6006.902,-17315.207,7,0.8,17,7.3,0.5,303.6,11,4.9