version: 66.13
glider: 401
mission: 22
dive: 2117
start: 9 2 117 0 30 29
data:
$ID,401
$MISSION,22
$DIVE,2117
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,020917,000815,6007.4678,-17314.3652,7,0.9,17,7.3,0.4,331.8,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-2.1
$GPS2,020917,000815,6007.4678,-17314.3652,7,0.9,17,7.3,0.4,331.8,11,4.7
$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,103.8,107279,-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,6,begin dive
$GC,12,-1.82,-585.0,2392,1968,2369,4092,0.0,0.0,0,25,6.45,0.00,-4.62,0.000,20482,0.021,0.000,1759,1967,2857,2857,4094,0,0,0,0,0,0,26.14,28.83,26.16,10.36,52.63
$GC,31,-1.82,-585.0,1759,1968,2857,4094,0.1,-1.7,2,38,0.00,0.00,-3.10,0.000,16390,0.000,0.000,1759,1968,3172,3172,4094,0,0,0,0,0,0,26.41,24.47,26.39,10.46,52.36
$GC,73,-1.82,-585.0,1758,1968,3173,4094,2.8,-11.2,8,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1968,3173,3173,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.53,52.79
$GC,113,-1.82,-585.0,1759,1968,3174,4095,9.1,-16.4,14,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1968,3174,3174,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.53,52.40
$GC,154,-1.82,-585.0,1758,1968,3175,4095,16.5,-18.9,20,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1968,3175,3175,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.54,52.36
$GC,194,-1.82,-585.0,1759,1968,3176,4094,23.9,-16.9,26,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1968,3177,3177,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.52,52.36
$GC,235,-1.82,-585.0,1758,1968,3178,4094,30.0,-15.3,32,241,0.00,1.10,0.00,0.000,260,0.000,0.046,1759,2377,3178,3178,4095,0,0,0,0,0,0,26.50,26.04,26.51,10.48,51.77
$GC,300,-1.82,-585.0,1758,2377,3179,4095,39.0,-13.7,42,307,0.00,1.05,0.00,0.000,1030,0.000,0.028,1759,1960,3180,3180,4095,0,0,0,0,0,0,26.22,26.19,26.24,10.46,50.90
$GC,342,-1.82,-585.0,1758,1959,3181,4095,44.8,-14.0,48,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1959,3181,3181,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.44,50.39
$GC,383,-1.82,-585.0,1758,1959,3182,4095,50.4,-13.5,54,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1960,3182,3182,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.44,49.01
$GC,423,-1.82,-585.0,1758,1959,3183,4095,56.0,-13.9,60,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1960,3183,3183,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.42,48.85
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,459,-0.45,0.0,1759,2144,3183,4095,60.1,-14.5,64,501,4.60,0.00,33.62,1.322,10244,0.052,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.13,25.17,24.05,10.42,48.93
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,507,1.82,585.0,2185,2144,2485,4094,63.8,0.0,71,554,7.65,0.00,33.38,1.289,11270,0.030,0.000,2903,2143,1801,1801,4094,0,0,0,0,0,0,25.51,25.67,23.65,10.28,47.99
$GC,590,1.82,585.0,2902,2144,1800,4094,56.9,12.9,84,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2144,1800,1800,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.13,46.69
$GC,631,1.82,585.0,2902,2143,1799,4094,51.3,13.3,90,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1798,1798,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.12,46.81
$GC,671,1.82,585.0,2902,2144,1798,4094,46.0,12.6,96,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1797,1797,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.12,47.20
$GC,712,1.82,585.0,2902,2144,1796,4094,40.3,14.6,102,718,0.00,1.17,0.00,0.000,516,0.000,0.044,2903,1704,1796,1796,4094,0,0,0,0,0,0,25.95,25.55,25.96,10.11,47.83
$GC,825,1.82,585.0,2902,1703,1792,4094,24.3,13.6,120,832,0.00,1.05,0.00,0.000,1030,0.000,0.028,2903,2134,1792,1792,4094,0,0,0,0,0,0,25.89,25.85,25.90,10.11,48.22
$GC,867,1.82,585.0,2902,2133,1791,4094,19.4,11.5,126,873,0.00,1.15,0.00,0.000,260,0.000,0.054,2903,2559,1791,1791,4094,0,0,0,0,0,0,26.23,25.77,26.25,10.15,48.85
$GC,926,1.82,585.0,2902,2559,1789,4094,12.7,11.4,135,933,0.00,0.95,0.00,0.000,1030,0.000,0.027,2903,2166,1789,1789,4094,0,0,0,0,0,0,26.05,26.02,26.06,10.18,51.14
$GC,968,1.82,585.0,2903,2165,1788,4094,8.1,10.8,141,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2166,1789,1789,4094,0,0,0,0,0,0,26.34,26.34,26.35,10.19,52.71
$GC,1008,1.82,585.0,2902,2166,1787,4094,3.6,11.0,147,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2166,1786,1786,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.20,52.55
$STATE,1020,end climb,FINISH_DEPTH_REACHED
$STATE,1021,begin subsurface finish
$FINISH1,1.8,1.024115,104
$GC,1033,0.16,103.5,2903,2165,1786,4094,1.8,11.3,149,1047,5.25,0.00,-5.35,0.000,20998,0.021,0.000,2391,2159,2368,2368,4095,0,0,0,0,0,0,26.07,24.41,26.13,10.20,52.67
$FINISH2,0.0
$STATE,1048,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1048,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,225041
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.46
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.65,61.886
$10V_AH,10.35,57.085
$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,23.950,7.375,67.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,392.457,221.602,151.563,220.734,124.590,0.000,324.652,0.000,228.704,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,53.550,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10848,151
$CAP_FILE_SIZE,27118,0
$CFSIZE,1024409600,915456000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,000815,6007.468,-17314.365,7,0.9,17,7.3,0.4,331.8,11,4.7