version: 66.13
glider: 401
mission: 22
dive: 2350
start: 9 6 117 0 42 20
data:
$ID,401
$MISSION,22
$DIVE,2350
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,060917,002936,5956.1299,-17219.4844,5,0.8,30,7.7,0.8,229.0,10,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-39.3
$GPS2,060917,004141,5956.1558,-17219.7266,8,0.9,19,7.7,0.5,316.6,9,4.7
$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,102.1,52230,-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,-487.5,229,1950,1860,4092,0.0,0.0,0,21,7.53,0.00,0.00,0.000,2049,0.089,0.000,869,1952,1860,1860,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.28,52.08
$GC,27,-1.80,-487.5,868,1951,1860,4094,0.6,0.0,1,54,9.43,0.00,-11.35,0.000,18950,0.041,0.000,1751,1951,3058,3058,4094,0,0,0,0,0,0,25.93,25.44,25.98,10.29,52.75
$GC,95,-1.80,-487.5,1751,1951,3059,4094,2.7,-10.4,9,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1951,3059,3059,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.54,51.96
$GC,145,-1.80,-487.5,1751,1951,3060,4095,11.5,-18.2,15,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1951,3061,3061,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.54,51.29
$GC,194,-1.80,-487.5,1751,1951,3062,4094,20.9,-19.7,21,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1951,3062,3062,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.54,51.45
$GC,244,-1.80,-487.5,1751,1951,3064,4094,29.3,-14.4,27,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1951,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.52,51.10
$GC,293,-1.80,-487.5,1751,1951,3065,4095,35.8,-14.4,33,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1951,3065,3065,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.47,50.23
$GC,343,-1.80,-487.5,1751,1951,3066,4095,43.0,-14.1,39,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1951,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.44,48.58
$GC,393,-1.80,-487.5,1751,1951,3068,4094,50.3,-14.0,45,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1951,3068,3068,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.43,47.32
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,435,-0.45,0.0,1751,2143,3069,4095,55.8,-15.1,49,471,4.70,0.00,28.60,1.264,10246,0.055,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.06,25.24,24.06,10.42,47.12
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,478,1.80,487.5,2184,2142,2484,4094,60.2,0.0,53,522,7.60,0.00,28.10,1.237,10246,0.029,0.000,2900,2143,1916,1916,4094,0,0,0,0,0,0,25.62,24.47,23.72,10.30,46.37
$GC,563,1.80,487.5,2900,2142,1915,4094,53.7,13.1,63,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1915,1915,4095,0,0,0,0,0,0,25.67,25.69,25.68,10.16,45.31
$GC,614,1.80,487.5,2900,2142,1913,4095,47.1,12.9,69,623,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1713,1913,1913,4094,0,0,0,0,0,0,25.89,25.48,25.90,10.15,45.39
$GC,754,1.80,487.5,2900,1713,1908,4094,28.6,12.5,89,764,0.00,1.02,0.00,0.000,1030,0.000,0.029,2901,2131,1909,1909,4094,0,0,0,0,0,0,25.90,25.87,25.94,10.16,46.65
$GC,803,1.80,487.5,2900,2131,1908,4094,23.0,11.1,95,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1907,1907,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.20,48.62
$GC,852,1.82,495.7,2900,2131,1907,4094,17.8,10.7,101,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1906,1906,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.23,50.43
$GC,900,1.82,495.7,2900,2131,1905,4094,12.2,11.8,107,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1905,1905,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.23,51.22
$GC,948,1.82,495.7,2900,2131,1904,4094,6.6,12.3,113,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1903,1903,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.24,51.92
$STATE,984,end climb,FINISH_DEPTH_REACHED
$STATE,984,begin subsurface finish
$FINISH1,1.6,1.024185,99
$GC,998,0.15,98.6,2900,2136,1902,4094,1.6,12.4,118,1017,5.20,0.00,-4.18,0.000,20998,0.021,0.000,2379,2133,2367,2367,4094,0,0,0,0,0,0,26.22,25.48,26.25,10.24,52.16
$FINISH2,0.1
$STATE,1018,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1018,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,003408
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.28
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.72,68.900
$10V_AH,10.02,62.610
$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,34.450,2.650,56.700,0.000,0.000,50.855,44.753,285.764,0.000,0.000,20.782,350.925,44.656,117.623,840.872,392.116,0.000,339.973,0.000,296.063,0.000,0.543,0.000
$DEVICE_MAMPS,88.740,43.605,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.311,326.148,257.964,382.394,498.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,10790,120
$CAP_FILE_SIZE,27511,0
$CFSIZE,1024409600,903970816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060917,004141,5956.156,-17219.727,8,0.9,19,7.7,0.5,316.6,9,4.7