version: 66.13
glider: 401
mission: 22
dive: 2332
start: 9 5 117 17 25 50
data:
$ID,401
$MISSION,22
$DIVE,2332
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,500
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,050917,170702,5957.5532,-17222.6426,8,0.9,37,7.7,0.2,61.4,9,4.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-21.9
$GPS2,050917,172511,5957.5610,-17222.4453,5,0.8,17,7.7,0.4,55.1,10,4.7
$SPEED_LIMITS,0.231,0.398
$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,103.7,55518,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,-1.80,-487.5,239,1966,49,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.055,0.000,1008,1968,49,49,4094,0,0,0,0,0,0,26.26,28.83,28.83,9.95,50.70
$GC,28,-1.80,-487.5,1007,1968,49,4094,0.2,0.0,1,70,8.00,0.00,-26.48,0.000,18438,0.043,0.000,1752,1968,3055,3055,4094,0,0,0,0,0,0,25.84,25.39,25.94,9.95,51.14
$GC,110,-1.80,-487.5,1751,1966,3056,4094,-0.1,0.2,11,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1966,3056,3056,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.57,51.22
$GC,158,-1.80,-487.5,1751,1967,3056,4095,-0.0,0.1,17,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1967,3056,3056,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.57,50.82
$GC,205,-1.80,-487.5,1751,1967,3055,4095,-0.0,-0.2,23,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1967,3057,3057,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.57,51.06
$GC,254,-1.80,-487.5,1752,1967,3056,4095,0.1,-0.2,29,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1967,3056,3056,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.57,50.39
$GC,303,-1.80,-487.5,1752,1967,3056,4095,-0.0,-0.4,35,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1967,3056,3056,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.57,51.26
$GC,350,-1.80,-487.5,1752,1967,3056,4095,-0.1,0.0,41,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1967,3056,3056,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.57,50.59
$GC,398,-1.80,-487.5,1752,1967,3056,4095,0.0,-0.3,47,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1967,3056,3056,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.57,50.47
$GC,447,-1.80,-487.5,1752,1967,3056,4095,-0.1,0.0,53,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1967,3056,3056,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.57,50.51
$GC,495,-1.80,-487.5,1752,1967,3056,4094,0.1,-0.7,59,505,0.00,1.05,0.00,0.000,260,0.000,0.039,1752,2372,3056,3056,4095,0,0,0,0,0,0,26.57,26.13,26.58,10.57,50.78
$GC,564,-1.80,-487.5,1752,2372,3058,4095,8.8,-18.2,68,573,0.00,1.05,0.00,0.000,1030,0.000,0.029,1752,1947,3058,3058,4094,0,0,0,0,0,0,26.25,26.22,26.28,10.57,50.03
$GC,613,-1.80,-487.5,1752,1946,3060,4094,18.2,-19.5,74,622,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1946,3060,3060,4094,0,0,0,0,0,0,26.63,26.63,26.63,10.58,49.60
$GC,662,-1.80,-487.5,1751,1946,3062,4094,27.3,-18.2,80,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3062,3062,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.54,49.40
$GC,710,-1.80,-487.5,1752,1946,3063,4094,34.1,-14.4,86,719,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3062,3062,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.50,48.54
$GC,759,-1.80,-487.5,1752,1946,3064,4095,41.0,-14.0,92,767,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3064,3064,4095,0,0,0,0,0,0,26.67,26.69,26.68,10.48,47.36
$GC,807,-1.80,-487.5,1752,1946,3066,4095,48.0,-15.1,98,815,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3066,3066,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.46,46.37
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,863,-0.45,0.0,1752,2139,3067,4094,55.5,-15.2,104,899,4.65,0.00,28.35,1.237,10244,0.054,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.20,25.38,24.24,10.45,46.06
$STATE,900,end apogee,CONTROL_FINISHED_OK
$STATE,900,begin climb
$GC,906,1.80,487.5,2184,2138,2484,4094,59.9,0.0,108,950,7.57,0.00,27.88,1.214,11270,0.030,0.000,2902,2139,1918,1918,4094,0,0,0,0,0,0,25.76,25.95,23.89,10.33,45.35
$GC,992,1.80,487.5,2901,2138,1917,4094,52.9,13.1,118,1001,0.00,1.12,0.00,0.000,516,0.000,0.043,2902,1714,1917,1917,4094,0,0,0,0,0,0,25.77,25.39,25.78,10.19,44.36
$GC,1093,1.80,487.5,2901,1713,1914,4094,39.3,13.1,132,1102,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2123,1913,1913,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.17,45.62
$GC,1142,1.80,487.5,2901,2122,1912,4094,32.6,14.0,138,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1912,1912,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.17,45.74
$GC,1190,1.80,487.5,2901,2122,1910,4094,26.1,13.6,144,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1911,1911,4094,0,0,0,0,0,0,26.27,26.28,26.29,10.17,45.98
$GC,1239,1.84,511.1,2901,2122,1909,4094,20.8,10.4,150,1248,0.00,0.00,2.92,0.301,8198,0.000,0.000,2902,2123,1887,1887,4094,0,0,0,0,0,0,26.34,24.94,24.28,10.22,47.59
$GC,1289,1.90,550.4,2901,2122,1886,4094,15.8,10.2,156,1299,0.15,0.00,3.88,0.420,10246,0.055,0.000,2929,2123,1840,1840,4094,0,0,0,0,0,0,26.15,25.44,24.46,10.24,49.44
$GC,1340,1.90,550.4,2928,2122,1840,4094,9.9,11.9,162,1348,0.00,1.08,0.00,0.000,516,0.000,0.045,2929,1714,1839,1839,4094,0,0,0,0,0,0,26.39,25.93,26.40,10.24,50.70
$STATE,1402,end climb,FINISH_DEPTH_REACHED
$STATE,1403,begin subsurface finish
$FINISH1,1.4,1.024107,104
$GC,1418,0.16,104.1,2929,2144,1837,4094,1.4,12.2,171,1435,5.50,0.00,-4.68,0.000,20486,0.022,0.000,2391,2145,2366,2366,4094,0,0,0,0,0,0,26.15,25.47,26.21,10.25,51.77
$FINISH2,0.2
$STATE,1436,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1437,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,171221
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.20
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.89,68.379
$10V_AH,10.04,62.207
$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,34.350,6.850,63.025,0.000,0.000,51.693,46.549,595.048,0.000,0.000,18.682,470.397,45.039,156.901,1298.581,558.460,0.000,454.067,0.000,420.143,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,45.135,1237.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.998,470.070,371.872,551.106,715.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,17817,173
$CAP_FILE_SIZE,41215,0
$CFSIZE,1024409600,904822784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,172511,5957.561,-17222.445,5,0.8,17,7.7,0.4,55.1,10,4.7