version: 66.13
glider: 401
mission: 22
dive: 2131
start: 9 2 117 6 20 31
data:
$ID,401
$MISSION,22
$DIVE,2131
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,020917,060046,6007.7344,-17306.2090,4,1.0,49,7.3,0.2,107.1,8,3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-42.8
$GPS2,020917,061952,6007.7329,-17306.1094,7,0.8,17,7.3,0.0,32.6,10,4.8
$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,105.6,100327,-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,-585.0,229,1944,1785,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.099,0.000,696,1945,1786,1786,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.28,50.94
$GC,25,-1.82,-585.0,696,1944,1785,4094,0.7,0.0,1,54,11.52,0.00,-13.07,0.000,18950,0.054,0.000,1748,1945,3170,3170,4095,0,0,0,0,0,0,25.91,24.34,25.96,10.28,50.19
$GC,89,-1.82,-585.0,1748,1945,3171,4095,4.2,-13.5,11,96,0.00,1.08,0.00,0.000,516,0.000,0.049,1749,1522,3171,3171,4095,0,0,0,0,0,0,26.29,25.84,26.30,10.58,50.55
$GC,149,-1.82,-585.0,1748,1522,3173,4095,15.1,-18.5,20,155,0.00,1.02,0.00,0.000,1030,0.000,0.027,1749,1953,3173,3173,4095,0,0,0,0,0,0,26.07,26.04,26.08,10.58,49.96
$GC,190,-1.82,-585.0,1748,1953,3175,4095,22.9,-18.6,26,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,1953,3174,3174,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.58,50.39
$GC,231,-1.82,-585.0,1748,1953,3175,4095,29.7,-15.9,32,237,0.00,1.12,0.00,0.000,260,0.000,0.045,1749,2381,3176,3176,4095,0,0,0,0,0,0,26.42,25.96,26.44,10.55,49.40
$GC,302,-1.82,-585.0,1748,2381,3178,4095,40.4,-15.2,43,309,0.00,1.08,0.00,0.000,1030,0.000,0.028,1748,1953,3178,3178,4095,0,0,0,0,0,0,26.15,26.12,26.18,10.51,48.46
$GC,344,-1.82,-585.0,1748,1953,3179,4095,46.6,-14.8,49,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3179,3179,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.49,48.07
$GC,384,-1.82,-585.0,1748,1953,3180,4094,52.7,-15.1,55,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3180,3180,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.47,47.71
$GC,425,-1.82,-585.0,1748,1953,3181,4095,58.7,-14.2,61,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3181,3181,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.46,47.40
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,448,-0.45,0.0,1748,2152,3182,4095,61.0,-14.3,63,490,4.72,0.00,33.60,1.324,10244,0.051,0.000,2187,2152,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,24.01,10.46,46.85
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,496,1.82,585.0,2187,2151,2484,4094,64.5,0.0,70,544,7.57,1.10,33.38,1.289,10500,0.030,0.050,2902,2561,1802,1802,4094,0,0,0,0,0,0,25.38,25.33,23.63,10.32,46.29
$GC,561,1.82,585.0,2901,2560,1802,4094,60.3,10.6,80,568,0.00,1.10,0.00,0.000,1030,0.000,0.024,2902,2130,1801,1801,4094,0,0,0,0,0,0,25.13,25.10,25.15,10.16,44.99
$GC,603,1.82,585.0,2902,2130,1801,4094,55.0,13.3,86,609,0.00,1.08,0.00,0.000,516,0.000,0.045,2902,1722,1800,1800,4095,0,0,0,0,0,0,25.60,25.24,25.61,10.15,44.84
$GC,710,1.82,585.0,2902,1721,1797,4095,40.9,13.7,103,717,0.00,0.98,0.00,0.000,1030,0.000,0.029,2901,2119,1797,1797,4094,0,0,0,0,0,0,25.71,25.68,25.74,10.15,46.33
$GC,752,1.82,585.0,2902,2119,1796,4094,35.4,13.7,109,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1796,1796,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.15,46.37
$GC,792,1.82,585.0,2902,2119,1794,4094,29.8,13.6,115,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1794,1794,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.14,47.08
$GC,833,1.82,585.0,2902,2118,1793,4094,24.5,12.5,121,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1793,1793,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.16,47.79
$GC,874,1.82,585.0,2902,2119,1792,4094,19.9,11.3,127,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1791,1791,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.19,48.74
$GC,915,1.82,585.0,2902,2118,1790,4094,15.3,11.2,133,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1790,1790,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,50.07
$GC,956,1.82,585.0,2902,2119,1789,4094,10.7,11.5,139,962,0.00,1.05,0.00,0.000,516,0.000,0.045,2902,1719,1789,1789,4095,0,0,0,0,0,0,26.35,25.91,26.36,10.21,50.94
$GC,1033,1.82,585.0,2902,1719,1787,4095,2.1,10.6,151,1039,0.00,0.98,0.00,0.000,1030,0.000,0.028,2902,2127,1787,1787,4094,0,0,0,0,0,0,26.11,26.09,26.14,10.22,52.32
$STATE,1044,end climb,FINISH_DEPTH_REACHED
$STATE,1044,begin subsurface finish
$FINISH1,0.4,1.024120,103
$GC,1057,0.15,103.1,2902,2126,1786,4094,0.4,10.7,153,1071,5.22,0.00,-5.30,0.000,20486,0.021,0.000,2391,2126,2370,2370,4094,0,0,0,0,0,0,26.13,24.42,26.19,10.22,51.85
$FINISH2,-0.0
$STATE,1072,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,020917,060648
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.28
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,23.63,62.347
$10V_AH,10.23,57.418
$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,34.650,11.075,66.975,0.000,0.000,122.552,129.556,401.750,0.000,0.000,18.544,406.091,402.188,164.093,840.626,410.198,0.000,347.857,0.000,236.067,0.000,0.544,0.000
$DEVICE_MAMPS,98.685,50.490,1324.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10784,155
$CAP_FILE_SIZE,36699,0
$CFSIZE,1024409600,914751488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020917,061952,6007.733,-17306.109,7,0.8,17,7.3,0.0,32.6,10,4.8