version: 66.13
glider: 401
mission: 22
dive: 2357
start: 9 6 117 3 26 27
data:
$ID,401
$MISSION,22
$DIVE,2357
$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,60
$R_STBD_OVSHOOT,50
$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
$GPS1,060917,030557,5956.6719,-17218.3672,6,1.1,51,7.7,0.5,16.7,8,3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-1.9
$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,6,begin dive
$GC,12,-1.80,-487.5,2388,1973,2372,4092,0.0,0.0,0,30,6.35,0.00,-6.45,0.000,20486,0.023,0.000,1765,1973,3057,3057,4094,0,0,0,0,0,0,26.15,24.33,26.17,10.35,52.75
$GC,37,-1.80,-487.5,1764,1973,3057,4094,0.2,-2.4,3,43,0.00,1.08,0.00,0.000,516,0.000,0.050,1765,1554,3058,3058,4094,0,0,0,0,0,0,26.36,25.95,26.37,10.50,53.54
$GC,138,-1.80,-487.5,1764,1553,3061,4094,15.8,-18.0,19,145,0.00,0.90,0.00,0.000,1030,0.000,0.029,1765,1936,3061,3061,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.50,53.18
$GC,180,-1.80,-487.5,1764,1936,3062,4095,23.4,-18.4,25,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.50,52.44
$GC,222,-1.80,-487.5,1765,1936,3063,4095,30.3,-16.4,31,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1936,3063,3063,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.49,52.71
$GC,263,-1.80,-487.5,1764,1937,3064,4094,35.4,-12.2,37,270,0.00,1.12,0.00,0.000,260,0.000,0.046,1765,2367,3064,3064,4095,0,0,0,0,0,0,26.54,26.06,26.55,10.45,52.44
$GC,341,-1.80,-487.5,1764,2367,3066,4095,45.9,-13.7,49,347,0.00,0.95,0.00,0.000,1030,0.000,0.030,1765,1986,3066,3066,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.41,50.51
$GC,383,-1.80,-487.5,1764,1986,3067,4094,52.1,-14.8,55,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1987,3068,3068,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.40,49.37
$STATE,400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,400,begin apogee
$GC,413,-0.45,0.0,1765,2139,3068,4094,55.4,-14.7,58,449,4.53,0.00,28.38,1.255,10244,0.054,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.13,25.29,24.13,10.39,49.40
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,450,begin climb
$GC,456,1.80,487.5,2185,2139,2484,4094,59.3,0.0,64,498,7.57,0.00,27.92,1.225,11270,0.030,0.000,2899,2139,1915,1915,4094,0,0,0,0,0,0,25.67,25.85,23.75,10.27,48.93
$GC,533,1.80,487.5,2899,2139,1914,4094,53.2,11.2,76,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2139,1914,1914,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.14,47.51
$GC,575,1.80,487.5,2899,2138,1913,4094,47.9,12.5,82,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2139,1913,1913,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.13,46.88
$GC,616,1.80,487.5,2899,2139,1911,4094,42.6,12.6,88,623,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1709,1911,1911,4094,0,0,0,0,0,0,25.98,25.56,25.98,10.13,47.00
$GC,730,1.80,487.5,2899,1709,1908,4094,27.4,13.4,106,737,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2129,1908,1908,4095,0,0,0,0,0,0,25.91,25.88,25.94,10.13,48.26
$GC,773,1.82,500.7,2899,2128,1907,4095,22.9,10.6,112,779,0.00,0.00,2.28,0.134,8198,0.000,0.000,2900,2129,1899,1899,4094,0,0,0,0,0,0,26.27,25.17,24.03,10.17,49.84
$GC,815,1.82,501.6,2899,2128,1898,4094,18.3,10.8,118,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1898,1898,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.19,51.29
$GC,856,1.86,525.6,2899,2128,1897,4095,13.9,10.4,124,864,0.10,0.00,3.12,0.317,10246,0.073,0.000,2920,2129,1870,1870,4094,0,0,0,0,0,0,26.15,25.34,24.31,10.20,52.08
$GC,899,1.86,525.6,2920,2128,1869,4094,9.2,11.3,130,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2128,1868,1868,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.20,52.99
$GC,941,1.86,525.6,2920,2128,1868,4094,4.3,12.0,136,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2129,1868,1868,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.21,54.13
$STATE,958,end climb,FINISH_DEPTH_REACHED
$STATE,958,begin subsurface finish
$FINISH1,1.4,1.024189,98
$GC,972,0.15,98.3,2920,2129,1866,4094,1.4,12.2,139,985,5.43,0.00,-4.55,0.000,20486,0.020,0.000,2385,2129,2376,2376,4094,0,0,0,0,0,0,26.18,24.41,26.22,10.21,53.50
$FINISH2,0.2
$STATE,986,end subsurface finish,CONTROL_FINISHED_OK
$STATE,986,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,025805
$TT8_MAMPS,0.025466,0.113099
$HUMID,53.85
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.75,69.092
$10V_AH,10.32,62.756
$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,23.975,7.075,61.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,371.171,213.705,135.412,206.077,122.189,0.000,295.747,0.000,214.456,0.000,0.542,0.000
$DEVICE_MAMPS,73.440,50.490,1255.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330580
$DATA_FILE_SIZE,10810,141
$CAP_FILE_SIZE,25268,0
$CFSIZE,1024409600,903626752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,030557,5956.672,-17218.367,6,1.1,51,7.7,0.5,16.7,8,3.3