version: 66.13
glider: 401
mission: 22
dive: 2125
start: 9 2 117 3 48 11
data:
$ID,401
$MISSION,22
$DIVE,2125
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,020917,033712,6008.1021,-17309.6855,4,0.9,20,7.3,0.3,25.5,10,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-43.0
$GPS2,020917,034732,6008.1279,-17309.5918,7,0.9,27,7.3,0.4,37.5,9,4.7
$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,105.3,103603,-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,-585.0,230,1947,1786,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,2049,0.088,0.000,710,1948,1786,1786,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.27,51.26
$GC,25,-1.82,-585.0,710,1947,1786,4094,0.6,0.0,1,55,11.40,0.00,-13.32,0.000,18438,0.053,0.000,1753,1947,3172,3172,4095,0,0,0,0,0,0,25.94,24.28,26.00,10.27,51.18
$GC,89,-1.82,-585.0,1752,1948,3173,4095,3.5,-12.9,11,95,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3173,3173,4095,0,0,0,0,0,0,26.27,26.27,26.27,10.57,51.37
$GC,130,-1.82,-585.0,1753,1948,3174,4095,10.4,-17.4,17,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3174,3174,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.57,50.78
$GC,170,-1.82,-585.0,1752,1948,3175,4095,17.8,-18.5,23,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3175,3175,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.58,50.66
$GC,211,-1.82,-585.0,1752,1948,3177,4095,24.7,-16.0,29,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3177,3177,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.56,51.18
$GC,252,-1.82,-585.0,1752,1948,3177,4095,30.5,-13.9,35,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3178,3178,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.52,49.84
$GC,292,-1.82,-585.0,1753,1948,3179,4094,35.9,-13.7,41,299,0.00,1.15,0.00,0.000,260,0.000,0.044,1753,2379,3179,3179,4094,0,0,0,0,0,0,26.44,25.98,26.46,10.50,49.72
$GC,394,-1.82,-585.0,1752,2378,3181,4094,49.6,-13.7,57,400,0.00,1.08,0.00,0.000,1030,0.000,0.028,1753,1945,3181,3181,4095,0,0,0,0,0,0,26.16,26.13,26.19,10.47,48.18
$GC,435,-1.82,-585.0,1753,1945,3182,4095,55.4,-13.9,63,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3183,3183,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.45,47.40
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,477,-0.45,0.0,1753,2148,3183,4095,60.3,-13.7,68,519,4.65,0.00,33.65,1.325,10244,0.051,0.000,2186,2148,2484,2484,4095,0,0,0,0,0,0,26.08,25.13,23.99,10.45,46.92
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,525,1.82,585.0,2186,2148,2484,4095,63.9,0.0,75,572,7.60,0.00,33.30,1.287,11270,0.028,0.000,2900,2148,1803,1803,4094,0,0,0,0,0,0,25.48,25.63,23.62,10.30,46.45
$GC,607,1.82,585.0,2899,2148,1802,4094,57.0,12.7,88,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.15,45.43
$GC,648,1.82,585.0,2899,2148,1800,4094,51.5,13.4,94,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1800,1800,4095,0,0,0,0,0,0,25.68,25.70,25.69,10.14,45.86
$GC,689,1.82,585.0,2899,2148,1799,4095,46.0,13.3,100,695,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1717,1799,1799,4095,0,0,0,0,0,0,25.84,25.44,25.84,10.13,45.62
$GC,772,1.82,585.0,2900,1716,1796,4095,35.6,12.1,113,779,0.00,1.00,0.00,0.000,1030,0.000,0.028,2900,2125,1796,1796,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.13,46.92
$GC,814,1.82,585.0,2899,2124,1795,4094,30.6,12.2,119,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1796,1796,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.13,46.96
$GC,854,1.82,585.0,2900,2125,1794,4094,25.7,12.5,125,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1794,1794,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.14,47.79
$GC,895,1.82,585.0,2900,2125,1793,4095,21.0,10.9,131,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1793,1793,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.17,48.34
$GC,936,1.83,595.0,2899,2124,1792,4094,16.9,10.4,137,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1792,1792,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.19,50.15
$GC,976,1.83,595.0,2899,2125,1790,4094,12.6,10.8,143,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1790,1790,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.20,51.33
$GC,1017,1.83,595.0,2899,2125,1789,4094,8.2,10.9,149,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1789,1789,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.21,51.73
$GC,1058,1.83,595.0,2899,2125,1788,4094,3.6,11.5,155,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1788,1788,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.22,52.32
$STATE,1068,end climb,FINISH_DEPTH_REACHED
$STATE,1069,begin subsurface finish
$FINISH1,1.8,1.024115,103
$GC,1081,0.16,103.5,2900,2125,1787,4094,1.8,11.0,157,1095,5.18,0.00,-5.00,0.000,20486,0.019,0.000,2390,2125,2369,2369,4094,0,0,0,0,0,0,26.15,24.41,26.20,10.22,52.40
$FINISH2,0.3
$STATE,1096,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,020917,022831
$TT8_MAMPS,0.025466,0.134071
$HUMID,52.95
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.62,62.146
$10V_AH,10.28,57.276
$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,34.475,4.875,66.950,0.000,0.000,23.982,20.176,285.253,0.000,0.000,28.732,411.117,228.936,167.614,527.948,385.686,0.000,355.436,0.000,241.458,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,43.605,1324.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329260
$DATA_FILE_SIZE,10873,159
$CAP_FILE_SIZE,32458,0
$CFSIZE,1024409600,915062784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020917,034732,6008.128,-17309.592,7,0.9,27,7.3,0.4,37.5,9,4.7