version: 66.13
glider: 401
mission: 22
dive: 2132
start: 9 2 117 6 40 27
data:
$ID,401
$MISSION,22
$DIVE,2132
$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,24
$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
$GPS1,020917,061952,6007.7329,-17306.1094,7,0.8,17,7.3,0.0,32.6,10,4.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-1.2
$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,-585.0,2390,1954,2369,4092,0.0,0.0,0,29,6.45,0.00,-7.68,0.000,20486,0.022,0.000,1758,1954,3172,3172,4094,0,0,0,0,0,0,26.21,24.34,26.26,10.36,52.28
$GC,35,-1.82,-585.0,1758,1954,3172,4094,0.0,-0.8,2,44,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3172,3172,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.54,52.48
$GC,83,-1.82,-585.0,1758,1954,3173,4094,6.5,-14.9,8,92,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3174,3174,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.54,52.32
$GC,131,-1.82,-585.0,1758,1954,3175,4094,14.5,-16.8,14,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3175,3175,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.54,52.40
$GC,179,-1.82,-585.0,1758,1954,3177,4094,22.9,-17.1,20,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3177,3177,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.54,51.77
$GC,227,-1.82,-585.0,1757,1954,3178,4095,30.3,-14.2,26,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3178,3178,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.51,51.61
$GC,275,-1.82,-585.0,1757,1954,3179,4094,37.0,-14.1,32,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3179,3179,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.50,50.74
$GC,322,-1.82,-585.0,1758,1954,3181,4095,43.7,-14.6,38,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3180,3180,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.47,50.15
$GC,370,-1.82,-585.0,1758,1954,3181,4095,50.5,-14.4,44,380,0.00,1.15,0.00,0.000,260,0.000,0.047,1758,2384,3182,3182,4095,0,0,0,0,0,0,26.62,26.14,26.63,10.46,49.96
$GC,432,-1.82,-585.0,1758,2384,3183,4095,59.5,-13.7,52,441,0.00,1.08,0.00,0.000,1030,0.000,0.030,1758,1949,3183,3183,4095,0,0,0,0,0,0,26.29,26.25,26.32,10.44,48.42
$STATE,449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,462,-0.45,0.0,1758,2149,3183,4095,62.7,-14.0,54,506,4.43,0.00,33.72,1.325,10244,0.030,0.000,2190,2149,2484,2484,4094,0,0,0,0,0,0,26.30,25.20,24.08,10.44,48.50
$STATE,507,end apogee,CONTROL_FINISHED_OK
$STATE,507,begin climb
$GC,512,1.82,585.0,2190,2149,2484,4094,64.6,0.0,59,557,7.60,0.00,33.38,1.287,11270,0.029,0.000,2902,2149,1802,1802,4094,0,0,0,0,0,0,25.56,25.73,23.68,10.29,47.00
$GC,598,1.82,585.0,2902,2149,1801,4094,58.4,11.3,69,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2149,1801,1801,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.13,45.90
$GC,647,1.82,585.0,2902,2149,1799,4094,51.9,13.0,75,657,0.00,1.17,0.00,0.000,516,0.000,0.045,2903,1712,1799,1799,4094,0,0,0,0,0,0,25.77,25.38,25.78,10.13,46.49
$GC,768,1.82,585.0,2902,1712,1796,4094,36.7,12.7,92,777,0.00,1.00,0.00,0.000,1030,0.000,0.030,2903,2120,1796,1796,4094,0,0,0,0,0,0,25.81,25.77,25.84,10.13,47.32
$GC,817,1.82,585.0,2902,2119,1794,4094,30.3,13.0,98,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1794,1794,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.14,48.18
$GC,865,1.82,585.0,2902,2119,1793,4094,24.7,11.0,104,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1794,1794,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.16,48.81
$GC,913,1.82,585.0,2902,2119,1791,4094,19.4,10.9,110,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1791,1791,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,50.47
$GC,961,1.82,585.0,2902,2119,1790,4094,13.8,11.4,116,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1790,1790,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.20,51.29
$GC,1009,1.82,585.0,2902,2120,1788,4094,8.2,11.6,122,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1788,1788,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.20,51.96
$GC,1056,1.82,585.0,2902,2119,1787,4095,2.5,12.0,128,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1787,1787,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.21,52.63
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1072,begin subsurface finish
$FINISH1,0.1,1.024119,103
$GC,1085,0.15,103.2,2902,2120,1787,4094,0.1,11.2,130,1104,5.22,0.00,-5.32,0.000,20486,0.021,0.000,2392,2120,2366,2366,4095,0,0,0,0,0,0,26.12,25.46,26.18,10.22,51.92
$FINISH2,0.0
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,020917,060648
$TT8_MAMPS,0.026215,0.23968
$HUMID,52.24
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.68,62.371
$10V_AH,10.09,57.449
$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,23.700,5.325,67.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,360.704,0.000,128.049,552.554,126.311,0.000,367.505,0.000,325.604,0.000,0.543,0.000
$DEVICE_MAMPS,29.835,46.665,1324.980,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.078,358.691,283.809,420.318,548.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,10904,132
$CAP_FILE_SIZE,25198,0
$CFSIZE,1024409600,914718720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,061952,6007.733,-17306.109,7,0.8,17,7.3,0.0,32.6,10,4.8