version: 66.13
glider: 401
mission: 22
dive: 2356
start: 9 6 117 3 6 36
data:
$ID,401
$MISSION,22
$DIVE,2356
$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,57
$R_STBD_OVSHOOT,39
$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
$GPS1,060917,025332,5956.5938,-17218.3496,5,0.9,34,7.7,0.3,57.4,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-38.4
$GPS2,060917,030557,5956.6719,-17218.3672,6,1.1,51,7.7,0.5,16.7,8,3.3
$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,103.5,51378,-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,-487.5,238,1968,1842,4092,0.0,0.0,0,21,7.55,0.00,0.00,0.000,2049,0.087,0.000,880,1968,1842,1842,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.27,52.44
$GC,27,-1.80,-487.5,879,1968,1841,4094,0.4,0.0,1,54,9.35,1.17,-11.55,0.000,18948,0.042,1.228,1751,1553,3057,3057,4095,0,0,0,0,0,0,25.94,23.94,26.00,10.28,52.20
$GC,177,-1.80,-487.5,1751,1552,3060,4095,17.3,-18.1,21,187,0.00,0.93,0.00,0.000,1030,0.000,0.028,1752,1941,3061,3061,4095,0,0,0,0,0,0,26.12,26.08,26.14,10.54,51.77
$GC,227,-1.80,-487.5,1751,1941,3062,4095,27.3,-18.5,27,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1941,3063,3063,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.53,51.57
$GC,275,-1.80,-487.5,1751,1942,3063,4095,33.8,-13.1,33,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1943,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.47,50.39
$GC,324,-1.80,-487.5,1751,1943,3064,4094,40.4,-13.5,39,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1943,3066,3066,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.45,49.09
$GC,373,-1.80,-487.5,1752,1942,3066,4094,47.3,-13.9,45,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1943,3065,3065,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.43,47.67
$GC,420,-1.80,-487.5,1752,1942,3067,4094,54.5,-15.1,51,429,0.00,1.12,0.00,0.000,260,0.000,0.044,1752,2375,3067,3067,4094,0,0,0,0,0,0,26.56,26.07,26.58,10.42,46.88
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,452,-0.45,0.0,1752,2136,3067,4095,57.5,-14.6,53,488,4.70,0.00,28.58,1.288,10244,0.054,0.000,2186,2133,2483,2483,4094,0,0,0,0,0,0,26.08,25.23,24.05,10.41,47.08
$STATE,489,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,495,1.80,487.5,2186,2132,2484,4094,62.2,0.0,57,539,7.60,0.00,28.17,1.261,11270,0.029,0.000,2900,2133,1915,1915,4094,0,0,0,0,0,0,25.63,25.81,23.69,10.29,46.25
$GC,581,1.80,487.5,2900,2132,1914,4094,56.4,11.9,67,590,0.00,1.02,0.00,0.000,516,0.000,0.044,2900,1744,1914,1914,4095,0,0,0,0,0,0,25.67,25.32,25.67,10.16,45.39
$GC,741,1.80,487.5,2900,1743,1910,4095,36.0,13.3,90,750,0.00,0.95,0.00,0.000,1030,0.000,0.030,2900,2132,1910,1910,4095,0,0,0,0,0,0,25.86,25.82,25.88,10.13,46.37
$GC,791,1.80,487.5,2900,2132,1908,4095,29.9,13.2,96,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1908,1908,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,46.53
$GC,841,1.93,569.2,2900,2132,1907,4094,24.7,9.6,102,852,0.32,0.00,5.80,0.632,10246,0.034,0.000,2942,2133,1820,1820,4095,0,0,0,0,0,0,26.08,25.41,24.39,10.19,48.54
$GC,893,1.93,569.2,2941,2132,1819,4095,19.1,11.6,108,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2133,1818,1818,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.19,50.51
$GC,943,1.93,569.2,2941,2132,1817,4094,13.3,11.8,114,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2133,1817,1817,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.20,51.57
$GC,993,1.93,569.2,2941,2132,1815,4094,6.9,13.2,120,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2133,1815,1815,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.21,52.16
$STATE,1029,end climb,FINISH_DEPTH_REACHED
$STATE,1029,begin subsurface finish
$FINISH1,1.6,1.024191,98
$GC,1042,0.15,98.2,2942,2133,1814,4094,1.6,12.7,125,1061,5.68,1.08,-5.15,0.000,20996,0.022,1.232,2388,1745,2372,2372,4094,0,0,0,0,0,0,26.15,24.06,26.20,10.22,52.40
$FINISH2,0.0
$STATE,1062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,025805
$TT8_MAMPS,0.025466,0.250915
$HUMID,53.38
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.69,69.072
$10V_AH,10.01,62.746
$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,35.200,6.800,62.550,0.000,0.000,53.597,37.974,273.436,0.000,0.000,53.038,368.448,45.257,114.984,888.422,393.467,0.000,335.746,0.000,313.561,0.000,0.542,0.000
$DEVICE_MAMPS,87.210,1232.415,1288.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.490,345.130,273.021,404.873,526.732,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329284
$DATA_FILE_SIZE,10964,127
$CAP_FILE_SIZE,28395,0
$CFSIZE,1024409600,903675904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060917,030557,5956.672,-17218.367,6,1.1,51,7.7,0.5,16.7,8,3.3