version: 66.13
glider: 401
mission: 22
dive: 2129
start: 9 2 117 5 19 44
data:
$ID,401
$MISSION,22
$DIVE,2129
$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,29
$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
$GPS1,020917,045858,6008.0088,-17307.8594,7,0.7,15,7.3,0.0,38.2,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-1.4
$GPS2,020917,045858,6008.0088,-17307.8594,7,0.7,15,7.3,0.0,38.2,12,4.7
$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,105.5,102029,-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,-585.0,2383,1943,2367,4092,0.0,0.0,0,30,6.35,0.00,-7.80,0.000,20486,0.022,0.000,1760,1943,3171,3171,4095,0,0,0,0,0,0,26.13,24.35,26.15,10.36,51.92
$GC,36,-1.82,-585.0,1760,1943,3171,4095,-0.0,-0.4,3,42,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3172,3172,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.53,52.79
$GC,76,-1.82,-585.0,1760,1943,3173,4095,5.1,-13.9,9,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1944,3173,3173,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.53,52.95
$GC,117,-1.82,-585.0,1760,1943,3174,4094,12.1,-17.5,15,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3174,3174,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.53,52.16
$GC,157,-1.82,-585.0,1760,1943,3175,4095,19.6,-19.1,21,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3175,3175,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.54,51.85
$GC,198,-1.82,-585.0,1760,1943,3176,4094,26.8,-16.9,27,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3178,3178,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.52,51.73
$GC,239,-1.82,-585.0,1760,1943,3178,4095,32.3,-14.1,33,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3178,3178,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.49,51.77
$GC,279,-1.82,-585.0,1760,1943,3179,4094,38.1,-14.2,39,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3179,3179,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.48,51.37
$GC,320,-1.82,-585.0,1760,1943,3180,4095,43.7,-13.5,45,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3180,3180,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.46,49.80
$GC,360,-1.82,-585.0,1760,1943,3181,4095,49.4,-14.3,51,367,0.00,1.15,0.00,0.000,260,0.000,0.045,1761,2373,3181,3181,4094,0,0,0,0,0,0,26.56,26.09,26.57,10.45,49.84
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,445,-0.45,0.0,1760,2118,3183,4095,60.4,-14.0,63,487,4.55,0.00,33.58,1.319,10246,0.050,0.000,2185,2118,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,24.06,10.42,49.13
$STATE,488,end apogee,CONTROL_FINISHED_OK
$STATE,488,begin climb
$GC,493,1.82,585.0,2185,2117,2484,4094,63.9,0.0,70,541,7.57,0.00,33.28,1.285,10246,0.026,0.000,2903,2118,1800,1800,4094,0,0,0,0,0,0,25.52,24.39,23.66,10.28,48.50
$GC,576,1.82,585.0,2903,2117,1799,4094,57.7,12.0,82,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1800,1800,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.13,46.53
$GC,617,1.82,585.0,2904,2117,1798,4094,52.4,12.8,88,624,0.00,1.00,0.00,0.000,516,0.000,0.046,2904,1736,1797,1797,4094,0,0,0,0,0,0,25.70,25.33,25.71,10.12,46.53
$GC,713,1.82,585.0,2903,1735,1795,4094,40.1,12.4,103,720,0.00,1.00,0.00,0.000,1030,0.000,0.031,2904,2139,1795,1795,4094,0,0,0,0,0,0,25.72,25.68,25.75,10.11,47.16
$GC,754,1.82,585.0,2903,2138,1794,4094,34.9,12.5,109,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.12,47.71
$GC,795,1.82,585.0,2903,2139,1793,4094,29.7,12.5,115,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1792,1792,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,48.46
$GC,836,1.82,585.0,2903,2138,1791,4094,24.3,13.2,121,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1791,1791,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.13,49.05
$GC,876,1.82,585.0,2903,2138,1790,4094,19.1,12.4,127,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1790,1790,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.17,50.31
$GC,917,1.82,585.0,2903,2139,1788,4094,14.5,11.2,133,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1789,1789,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.17,51.22
$GC,958,1.82,585.0,2903,2138,1787,4094,9.9,11.6,139,964,0.00,1.08,0.00,0.000,516,0.000,0.044,2904,1731,1787,1787,4094,0,0,0,0,0,0,26.35,25.91,26.36,10.19,52.52
$STATE,1024,end climb,FINISH_DEPTH_REACHED
$STATE,1024,begin subsurface finish
$FINISH1,1.8,1.024130,102
$GC,1038,0.15,102.5,2903,2139,1785,4094,1.8,11.2,150,1052,5.25,0.00,-5.32,0.000,20486,0.023,0.000,2389,2139,2369,2369,4094,0,0,0,0,0,0,26.12,24.42,26.17,10.20,52.87
$FINISH2,-0.0
$STATE,1053,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,020917,034131
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.93
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.66,62.263
$10V_AH,10.34,57.365
$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,23.725,6.275,66.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,391.744,228.040,149.041,221.800,125.193,0.000,325.146,0.000,230.106,0.000,0.544,0.000
$DEVICE_MAMPS,50.490,45.900,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,10813,152
$CAP_FILE_SIZE,26422,0
$CFSIZE,1024409600,914866176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,522.32,0x236162,1,24
$GPS,020917,045858,6008.009,-17307.859,7,0.7,15,7.3,0.0,38.2,12,4.7