version: 66.13
glider: 401
mission: 22
dive: 2119
start: 9 2 117 1 22 37
data:
$ID,401
$MISSION,22
$DIVE,2119
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,020917,011107,6007.7842,-17313.0293,4,0.8,22,7.3,0.5,355.8,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-41.0
$GPS2,020917,012158,6007.8970,-17313.0000,6,0.8,28,7.3,0.3,3.2,11,4.9
$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,104.4,106384,-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,-585.0,229,1940,1786,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,2049,0.090,0.000,703,1941,1786,1786,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.27,51.18
$GC,24,-1.82,-585.0,703,1940,1786,4094,0.6,0.0,1,55,11.40,0.00,-13.27,0.000,18438,0.050,0.000,1752,1941,3170,3170,4095,0,0,0,0,0,0,25.89,25.31,25.96,10.27,51.53
$GC,90,-1.82,-585.0,1751,1941,3170,4095,2.7,-10.9,10,96,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1941,3171,3171,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.58,51.96
$GC,131,-1.82,-585.0,1751,1941,3171,4095,9.5,-18.4,16,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1941,3172,3172,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.58,50.66
$GC,171,-1.82,-585.0,1751,1941,3173,4095,17.5,-19.7,22,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1941,3173,3173,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.58,50.63
$GC,212,-1.82,-585.0,1751,1941,3175,4095,25.4,-18.9,28,218,0.00,1.17,0.00,0.000,260,0.000,0.043,1752,2380,3175,3175,4094,0,0,0,0,0,0,26.36,25.91,26.38,10.58,50.19
$GC,319,-1.82,-585.0,1751,2380,3177,4094,41.1,-14.4,45,326,0.00,1.05,0.00,0.000,1030,0.000,0.028,1752,1959,3177,3177,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.49,48.46
$GC,361,-1.82,-585.0,1751,1958,3178,4094,47.0,-14.6,51,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3179,3179,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.47,47.99
$GC,401,-1.82,-585.0,1751,1959,3180,4095,53.1,-15.3,57,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3180,3180,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.46,47.08
$GC,442,-1.82,-585.0,1751,1958,3181,4095,59.1,-14.8,63,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3181,3181,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.45,47.04
$STATE,453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,453,begin apogee
$GC,465,-0.45,0.0,1751,2144,3181,4094,61.5,-15.0,65,507,4.70,0.00,33.62,1.350,10244,0.052,0.000,2186,2144,2484,2484,4095,0,0,0,0,0,0,26.06,25.10,23.96,10.45,47.20
$STATE,508,end apogee,CONTROL_FINISHED_OK
$STATE,508,begin climb
$GC,513,1.82,585.0,2186,2144,2484,4095,65.4,0.0,72,561,7.62,0.00,33.45,1.308,11270,0.028,0.000,2901,2144,1799,1799,4094,0,0,0,0,0,0,25.45,25.61,23.61,10.31,46.96
$GC,596,1.82,585.0,2901,2144,1798,4094,58.7,12.9,85,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1798,1798,4094,0,0,0,0,0,0,25.44,25.44,25.44,10.15,45.19
$GC,637,1.82,585.0,2901,2144,1796,4094,53.3,13.5,91,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1796,1796,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.14,45.35
$GC,677,1.82,585.0,2901,2144,1795,4094,47.7,13.7,97,684,0.00,1.15,0.00,0.000,516,0.000,0.043,2901,1714,1795,1795,4095,0,0,0,0,0,0,25.82,25.43,25.83,10.13,45.86
$GC,761,1.82,585.0,2901,1714,1793,4095,36.1,13.8,110,767,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2130,1793,1793,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.13,46.45
$GC,802,1.82,585.0,2901,2130,1791,4094,30.4,13.4,116,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1791,1791,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,46.45
$GC,843,1.82,585.0,2901,2130,1790,4094,25.1,12.2,122,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1790,1790,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.15,47.24
$GC,883,1.82,585.0,2901,2130,1788,4094,20.6,11.0,128,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1788,1788,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.18,48.93
$GC,924,1.82,585.0,2901,2130,1787,4094,16.2,10.9,134,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1787,1787,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.20,50.51
$GC,965,1.82,585.0,2901,2130,1786,4094,11.7,11.3,140,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1786,1786,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.21,51.69
$GC,1005,1.82,585.0,2900,2130,1785,4094,7.2,11.1,146,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1785,1785,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.21,51.69
$GC,1046,1.82,585.0,2901,2130,1784,4094,2.6,11.4,152,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1783,1783,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.22,52.55
$STATE,1056,end climb,FINISH_DEPTH_REACHED
$STATE,1056,begin subsurface finish
$FINISH1,0.8,1.024091,105
$GC,1069,0.16,105.2,2901,2130,1783,4094,0.8,11.1,154,1083,5.22,0.00,-5.38,0.000,20486,0.021,0.000,2390,2131,2368,2368,4094,0,0,0,0,0,0,26.12,24.41,26.17,10.23,52.08
$FINISH2,0.0
$STATE,1084,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,020917,000233
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.79
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.61,61.958
$10V_AH,10.21,57.135
$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,34.525,4.875,67.075,0.000,0.000,22.168,21.435,316.473,0.000,0.000,30.047,406.563,223.791,165.112,555.117,389.476,0.000,355.306,0.000,237.279,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,42.840,1350.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329256
$DATA_FILE_SIZE,10803,156
$CAP_FILE_SIZE,32642,0
$CFSIZE,1024409600,915357696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,38.11,0x236162,0,24
$GPS,020917,012158,6007.897,-17313.000,6,0.8,28,7.3,0.3,3.2,11,4.9