version: 66.13
glider: 401
mission: 22
dive: 2127
start: 9 2 117 4 28 44
data:
$ID,401
$MISSION,22
$DIVE,2127
$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,36
$R_STBD_OVSHOOT,33
$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,-0.04
$_SM_ANGLEo,-1.2
$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,-585.0,2390,1948,2366,4092,0.0,0.0,0,19,5.68,0.00,0.00,0.000,4097,0.018,0.000,1829,1948,2366,2366,4094,0,0,0,0,0,0,26.42,28.83,28.83,10.34,52.87
$GC,25,-1.82,-585.0,1829,1948,2365,4094,0.0,0.0,1,37,0.47,0.00,-7.78,0.000,20486,0.035,0.000,1774,1948,3170,3170,4094,0,0,0,0,0,0,26.13,24.50,26.16,10.35,53.07
$GC,72,-1.82,-585.0,1773,1948,3171,4094,3.5,-12.1,8,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1948,3171,3171,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.52,53.62
$GC,113,-1.82,-585.0,1773,1948,3172,4094,10.0,-16.6,14,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1948,3173,3173,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.53,53.15
$GC,153,-1.82,-585.0,1773,1948,3174,4094,17.1,-17.3,20,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1948,3174,3174,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.53,52.83
$GC,194,-1.82,-585.0,1773,1948,3175,4095,23.4,-13.8,26,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1948,3175,3175,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.51,52.91
$GC,235,-1.82,-585.0,1773,1948,3176,4095,28.6,-13.4,32,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1948,3176,3176,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.48,52.28
$GC,275,-1.82,-585.0,1773,1948,3177,4094,34.0,-13.4,38,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1948,3177,3177,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.47,51.73
$GC,316,-1.82,-585.0,1773,1948,3178,4095,39.4,-12.8,44,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1948,3178,3178,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.45,50.66
$GC,356,-1.82,-585.0,1773,1948,3179,4094,44.7,-13.4,50,363,0.00,1.12,0.00,0.000,260,0.000,0.044,1774,2370,3179,3179,4094,0,0,0,0,0,0,26.56,26.10,26.57,10.44,50.15
$GC,422,-1.82,-585.0,1773,2369,3180,4094,53.3,-13.3,60,428,0.00,1.02,0.00,0.000,1030,0.000,0.031,1774,1960,3181,3181,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.42,49.96
$GC,463,-1.82,-585.0,1774,1959,3181,4095,58.7,-13.1,66,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1959,3181,3181,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.42,49.01
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,486,-0.45,0.0,1774,2140,3182,4095,60.9,-13.7,68,528,4.43,0.00,33.50,1.320,10244,0.050,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.15,25.17,24.07,10.41,49.01
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,534,1.82,585.0,2186,2140,2484,4094,64.3,0.0,75,582,7.62,1.12,33.28,1.291,10500,0.028,0.050,2906,2559,1802,1802,4094,0,0,0,0,0,0,25.43,25.37,23.66,10.27,48.03
$GC,593,1.82,585.0,2906,2558,1802,4094,60.7,10.7,84,600,0.00,1.10,0.00,0.000,1030,0.000,0.025,2907,2131,1802,1802,4094,0,0,0,0,0,0,25.09,25.06,25.10,10.12,47.48
$GC,635,1.82,585.0,2906,2131,1800,4094,55.3,12.9,90,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2132,1800,1800,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.11,46.96
$GC,676,1.82,585.0,2907,2131,1799,4094,49.9,13.6,96,682,0.00,1.08,0.00,0.000,516,0.000,0.046,2907,1721,1799,1799,4094,0,0,0,0,0,0,25.77,25.37,25.77,10.11,46.88
$GC,771,1.82,585.0,2906,1720,1796,4094,37.2,13.2,111,778,0.00,0.98,0.00,0.000,1030,0.000,0.029,2907,2119,1795,1795,4094,0,0,0,0,0,0,25.76,25.73,25.78,10.10,47.83
$GC,813,1.82,585.0,2906,2119,1795,4094,32.0,12.5,117,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2119,1795,1795,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.11,48.54
$GC,853,1.82,585.0,2906,2119,1794,4094,26.8,12.6,123,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2119,1794,1794,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.11,48.74
$GC,894,1.82,585.0,2906,2118,1793,4094,21.6,12.9,129,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2119,1793,1793,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,49.33
$GC,935,1.82,588.5,2906,2118,1791,4094,17.3,10.5,135,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2119,1791,1791,4095,0,0,0,0,0,0,26.28,26.30,26.29,10.16,51.10
$GC,975,1.82,588.5,2906,2118,1790,4095,12.8,11.0,141,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2119,1790,1790,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.18,52.24
$GC,1016,1.82,588.5,2906,2119,1789,4094,8.3,10.9,147,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2119,1788,1788,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.19,52.79
$GC,1056,1.82,588.5,2906,2119,1788,4094,3.7,11.8,153,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2119,1788,1788,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.19,52.63
$STATE,1067,end climb,SURFACE_DEPTH_REACHED
$STATE,1067,begin surface coast
$FINISH,0.3,1.024110
$STATE,1081,end surface coast,CONTROL_FINISHED_OK
$STATE,1081,begin surface
$SM_CCo,1188,0.00,0.000,0,0,1786,600.16
$SM_GC,0.84,27.75,0.43,0.00,0.018,0.043,0.000,237,1953,1786,-6.55,1.50,600.16,0,0,0,0,0,0,26.17,26.09,26.20
$IRIDIUM_FIX,5952.82,-17420.78,020917,022831
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.30
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.66,62.196
$10V_AH,10.34,57.318
$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,45.950,7.700,66.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.258,286.820,181.982,229.037,147.559,0.000,363.543,0.000,237.128,0.000,0.542,0.000
$DEVICE_MAMPS,49.725,50.490,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330604
$DATA_FILE_SIZE,10860,157
$CAP_FILE_SIZE,30798,0
$CFSIZE,1024409600,914964480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,044930,6007.994,-17307.943,5,0.8,14,7.3,0.3,359.8,11,4.7