version: 66.13
glider: 401
mission: 22
dive: 2123
start: 9 2 117 2 56 23
data:
$ID,401
$MISSION,22
$DIVE,2123
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,020917,023414,6008.1191,-17311.4746,7,0.9,17,7.3,0.0,26.6,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-3.5
$GPS2,020917,023414,6008.1191,-17311.4746,7,0.9,17,7.3,0.0,26.6,9,4.8
$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,104.9,105219,-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,-585.0,2404,1950,2353,4092,0.0,0.0,0,19,5.70,0.00,0.00,0.000,4097,0.021,0.000,1843,1950,2353,2353,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.36,52.36
$GC,25,-1.82,-585.0,1843,1950,2353,4094,0.0,0.0,1,38,0.60,0.00,-7.88,0.000,20486,0.028,0.000,1774,1950,3170,3170,4095,0,0,0,0,0,0,26.18,24.58,26.20,10.37,52.91
$GC,73,-1.82,-585.0,1773,1950,3171,4095,2.7,-10.9,8,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1950,3170,3170,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.54,52.36
$GC,113,-1.82,-585.0,1773,1950,3172,4094,8.5,-15.2,14,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1950,3172,3172,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.55,52.28
$GC,154,-1.82,-585.0,1773,1950,3173,4095,15.5,-17.5,20,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1950,3173,3173,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.55,52.48
$GC,194,-1.82,-585.0,1773,1950,3175,4095,22.6,-17.5,26,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1950,3175,3175,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.54,52.32
$GC,235,-1.82,-585.0,1773,1950,3175,4095,28.4,-14.3,32,241,0.00,1.12,0.00,0.000,260,0.000,0.045,1773,2374,3175,3175,4094,0,0,0,0,0,0,26.52,26.07,26.53,10.51,52.00
$GC,342,-1.82,-585.0,1773,2374,3178,4094,41.0,-11.7,49,349,0.00,1.05,0.00,0.000,1030,0.000,0.030,1773,1950,3177,3177,4094,0,0,0,0,0,0,26.23,26.19,26.26,10.46,50.31
$GC,384,-1.82,-585.0,1773,1950,3179,4094,46.0,-12.1,55,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1951,3179,3179,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.44,49.56
$GC,424,-1.82,-585.0,1773,1950,3180,4094,51.0,-12.2,61,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1950,3180,3180,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.44,49.33
$GC,465,-1.82,-585.0,1773,1950,3181,4094,56.1,-12.5,67,472,0.00,1.05,0.00,0.000,516,0.000,0.050,1774,1527,3181,3181,4094,0,0,0,0,0,0,26.62,26.13,26.63,10.43,49.05
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,503,-0.45,0.0,1773,2133,3182,4094,60.0,-13.4,71,544,4.43,0.00,33.50,1.322,10244,0.050,0.000,2185,2133,2484,2484,4095,0,0,0,0,0,0,26.17,25.20,24.08,10.42,48.62
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,545,begin climb
$GC,551,1.82,585.0,2185,2133,2484,4095,63.6,0.0,78,598,7.65,0.00,33.42,1.283,11270,0.029,0.000,2902,2133,1801,1801,4094,0,0,0,0,0,0,25.53,25.70,23.67,10.28,48.30
$GC,634,1.82,585.0,2902,2133,1800,4094,56.8,12.5,91,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1800,1800,4094,0,0,0,0,0,0,25.49,25.50,25.50,10.13,47.44
$GC,675,1.82,585.0,2901,2132,1799,4094,51.2,13.9,97,681,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1716,1798,1798,4094,0,0,0,0,0,0,25.70,25.33,25.72,10.12,46.73
$GC,794,1.82,585.0,2902,1715,1795,4094,35.5,12.3,116,801,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2132,1795,1795,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.10,47.79
$GC,836,1.82,585.0,2902,2132,1794,4094,30.5,12.3,122,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.11,47.95
$GC,877,1.82,585.0,2902,2132,1793,4094,25.2,13.0,128,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1793,1793,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.11,48.34
$GC,917,1.82,585.0,2902,2132,1791,4094,20.4,11.0,134,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1791,1791,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.13,49.88
$GC,958,1.85,608.9,2902,2132,1790,4094,16.1,10.2,140,965,0.00,0.00,2.67,0.239,8198,0.000,0.000,2902,2133,1773,1773,4094,0,0,0,0,0,0,26.29,25.36,24.34,10.17,50.94
$GC,1000,1.89,636.5,2902,2132,1771,4094,11.8,10.2,146,1007,0.20,0.00,3.20,0.322,10246,0.046,0.000,2932,2133,1741,1741,4094,0,0,0,0,0,0,26.09,25.45,24.50,10.18,51.81
$GC,1042,1.89,636.5,2932,2132,1739,4094,7.0,11.3,152,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2133,1739,1739,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.18,52.40
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.9,1.024104,104
$GC,1091,0.16,104.2,2932,2132,1738,4093,1.9,13.0,158,1104,5.53,0.00,-5.32,0.000,20486,0.018,0.000,2387,2133,2367,2367,4094,0,0,0,0,0,0,26.13,24.40,26.17,10.20,53.66
$FINISH2,0.3
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,020917,011528
$TT8_MAMPS,0.025466,0.113848
$HUMID,54.01
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.67,62.078
$10V_AH,10.35,57.227
$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,24.100,7.400,72.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.747,242.788,153.291,233.191,124.897,0.000,331.733,0.000,241.405,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,50.490,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,10907,160
$CAP_FILE_SIZE,28107,0
$CFSIZE,1024409600,915161088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,023414,6008.119,-17311.475,7,0.9,17,7.3,0.0,26.6,9,4.8