version: 66.13
glider: 401
mission: 22
dive: 2351
start: 9 6 117 1 1 27
data:
$ID,401
$MISSION,22
$DIVE,2351
$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,17
$R_STBD_OVSHOOT,27
$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
$GPS1,060917,004141,5956.1558,-17219.7266,8,0.9,19,7.7,0.5,316.6,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-7.1
$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,-487.5,2378,1956,2367,4092,0.0,0.0,0,30,6.30,0.00,-6.50,0.000,20486,0.024,0.000,1763,1957,3056,3056,4095,0,0,0,0,0,0,26.15,24.34,26.17,10.36,52.44
$GC,36,-1.80,-487.5,1763,1957,3056,4095,0.1,-1.3,3,42,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1957,3056,3056,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.51,52.99
$GC,77,-1.80,-487.5,1762,1957,3058,4094,5.4,-14.8,9,83,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3058,3058,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.51,52.40
$GC,118,-1.80,-487.5,1763,1957,3059,4094,12.2,-16.9,15,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3059,3059,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.51,52.59
$GC,159,-1.80,-487.5,1762,1957,3060,4094,19.2,-17.1,21,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3060,3060,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.51,52.91
$GC,200,-1.80,-487.5,1762,1957,3061,4095,26.8,-18.1,27,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.52,52.00
$GC,241,-1.80,-487.5,1762,1957,3062,4095,32.3,-11.4,33,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.48,51.89
$GC,282,-1.80,-487.5,1763,1957,3064,4095,37.8,-13.2,39,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3064,3064,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.44,51.14
$GC,323,-1.80,-487.5,1762,1957,3065,4094,43.4,-13.6,45,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3065,3065,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.43,50.70
$GC,364,-1.80,-487.5,1762,1957,3066,4094,49.0,-13.5,51,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3066,3066,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.41,50.07
$GC,405,-1.80,-487.5,1762,1957,3067,4094,54.5,-13.7,57,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3067,3067,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.40,48.81
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,429,-0.45,0.0,1763,2146,3067,4095,56.8,-13.5,59,465,4.57,0.00,28.27,1.282,10246,0.054,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.13,25.28,24.11,10.40,48.62
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2185,2146,2483,4094,60.8,0.0,65,514,7.57,0.00,28.00,1.245,10246,0.030,0.000,2899,2147,1916,1916,4094,0,0,0,0,0,0,25.66,24.80,23.75,10.28,48.03
$GC,549,1.80,487.5,2899,2146,1915,4094,54.2,13.2,77,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1915,1915,4095,0,0,0,0,0,0,25.64,25.65,25.65,10.15,47.28
$GC,591,1.80,487.5,2899,2146,1914,4095,48.8,13.5,83,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2147,1913,1913,4094,0,0,0,0,0,0,25.83,25.85,25.84,10.14,47.04
$GC,632,1.80,487.5,2899,2146,1912,4094,43.5,12.7,89,639,0.00,1.17,0.00,0.000,516,0.000,0.044,2900,1706,1912,1912,4094,0,0,0,0,0,0,25.97,25.55,25.98,10.13,47.00
$GC,776,1.83,506.4,2899,1706,1908,4094,25.9,10.5,112,784,0.00,1.05,2.60,0.243,9222,0.000,0.028,2900,2136,1893,1893,4094,0,0,0,0,0,0,25.96,25.93,24.09,10.16,48.58
$GC,820,1.97,601.5,2899,2136,1892,4094,21.8,9.3,118,833,0.50,0.00,6.78,0.658,10246,0.031,0.000,2956,2136,1782,1782,4094,0,0,0,0,0,0,26.05,25.66,24.44,10.19,50.66
$GC,868,1.97,601.5,2956,2136,1781,4094,16.2,11.7,125,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2136,1780,1780,4095,0,0,0,0,0,0,26.27,26.27,26.27,10.19,51.81
$GC,909,1.97,601.5,2955,2136,1780,4095,10.8,13.5,131,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2136,1779,1779,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.19,53.26
$GC,950,1.97,601.5,2956,2136,1777,4094,5.9,11.6,137,957,0.00,1.15,0.00,0.000,516,0.000,0.049,2956,1703,1778,1778,4094,0,0,0,0,0,0,26.36,25.88,26.37,10.20,53.58
$STATE,981,end climb,FINISH_DEPTH_REACHED
$STATE,981,begin subsurface finish
$FINISH1,1.5,1.024189,98
$GC,996,0.15,98.3,2956,2154,1777,4094,1.5,12.8,142,1009,5.97,0.00,-5.20,0.000,20486,0.040,0.000,2386,2154,2376,2376,4094,0,0,0,0,0,0,26.13,24.44,26.15,10.20,53.42
$FINISH2,0.1
$STATE,1010,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,003408
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.70
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.52,68.922
$10V_AH,10.33,62.620
$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,24.925,5.425,65.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.250,209.885,147.511,210.418,131.729,0.000,314.410,0.000,218.740,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,56.610,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10810,144
$CAP_FILE_SIZE,26118,0
$CFSIZE,1024409600,903921664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,004141,5956.156,-17219.727,8,0.9,19,7.7,0.5,316.6,9,4.7