version: 66.13
glider: 401
mission: 22
dive: 2126
start: 9 2 117 4 8 31
data:
$ID,401
$MISSION,22
$DIVE,2126
$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,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
$GPS1,020917,034732,6008.1279,-17309.5918,7,0.9,27,7.3,0.4,37.5,9,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-2.1
$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,-585.0,2389,1949,2368,4092,0.0,0.0,0,22,6.43,0.00,-2.00,0.000,20482,0.022,0.000,1759,1949,2580,2580,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.36,52.83
$GC,28,-1.82,-585.0,1759,1949,2580,4094,0.1,0.0,1,38,0.00,0.00,-5.47,0.000,16390,0.000,0.000,1759,1949,3173,3173,4095,0,0,0,0,0,0,26.48,24.51,26.48,10.40,53.58
$GC,77,-1.82,-585.0,1758,1949,3173,4095,4.4,-13.7,7,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1949,3174,3174,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.54,52.75
$GC,125,-1.82,-585.0,1758,1949,3175,4095,12.5,-17.4,13,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3175,3175,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.54,52.75
$GC,172,-1.82,-585.0,1758,1949,3177,4095,20.9,-17.7,19,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3177,3177,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.54,52.83
$GC,220,-1.82,-585.0,1758,1949,3178,4095,28.0,-13.7,25,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3178,3178,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.51,52.00
$GC,268,-1.82,-585.0,1758,1949,3179,4095,34.6,-13.4,31,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3179,3179,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.49,51.81
$GC,316,-1.82,-585.0,1758,1949,3181,4094,41.0,-13.5,37,325,0.00,1.15,0.00,0.000,260,0.000,0.045,1759,2378,3181,3181,4095,0,0,0,0,0,0,26.58,26.10,26.58,10.46,50.90
$GC,404,-1.82,-585.0,1758,2378,3183,4095,53.1,-13.6,49,413,0.00,1.05,0.00,0.000,1030,0.000,0.028,1759,1958,3183,3183,4095,0,0,0,0,0,0,26.28,26.25,26.31,10.44,48.93
$GC,453,-1.82,-585.0,1758,1959,3184,4095,59.9,-14.1,55,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1958,3184,3184,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.42,48.97
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,481,-0.45,0.0,1758,2144,3185,4094,62.9,-14.0,57,525,4.43,0.00,33.75,1.336,10244,0.032,0.000,2189,2145,2484,2484,4095,0,0,0,0,0,0,26.28,25.19,24.08,10.42,48.11
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,532,1.82,585.0,2188,2144,2484,4095,64.7,0.0,62,585,7.57,1.12,33.42,1.297,10500,0.027,0.050,2904,2560,1802,1802,4094,0,0,0,0,0,0,25.44,25.38,23.65,10.28,47.91
$GC,814,1.82,585.0,2903,2560,1794,4094,31.6,13.1,101,823,0.00,1.08,0.00,0.000,1030,0.000,0.026,2903,2129,1794,1794,4094,0,0,0,0,0,0,25.87,25.84,25.89,10.11,48.14
$GC,864,1.82,585.0,2903,2128,1793,4094,25.2,12.8,107,874,0.00,1.17,0.00,0.000,260,0.000,0.053,2904,2552,1793,1793,4094,0,0,0,0,0,0,26.21,25.74,26.22,10.11,48.93
$GC,984,1.82,585.0,2903,2552,1789,4094,10.4,11.8,124,994,0.00,1.05,0.00,0.000,1030,0.000,0.027,2904,2124,1789,1789,4094,0,0,0,0,0,0,26.07,26.07,26.09,10.19,51.65
$GC,1033,1.82,585.0,2903,2124,1787,4094,4.8,11.2,130,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2124,1787,1787,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.20,52.00
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,1.5,1.024109,104
$GC,1070,0.16,103.9,2904,2123,1786,4094,1.5,11.3,133,1087,5.22,0.00,-5.35,0.000,20486,0.022,0.000,2391,2116,2365,2365,4094,0,0,0,0,0,0,26.12,25.43,26.17,10.20,52.48
$FINISH2,-0.0
$STATE,1088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,020917,022831
$TT8_MAMPS,0.026215,0.256907
$HUMID,53.46
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.65,62.171
$10V_AH,10.07,57.306
$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,23.650,7.525,67.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,368.493,0.000,110.407,564.189,107.960,0.000,328.949,0.000,329.826,0.000,0.542,0.000
$DEVICE_MAMPS,32.130,52.785,1336.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.778,366.725,290.306,430.406,562.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330604
$DATA_FILE_SIZE,14346,135
$CAP_FILE_SIZE,22455,0
$CFSIZE,1024409600,915013632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,034732,6008.128,-17309.592,7,0.9,27,7.3,0.4,37.5,9,4.7