version: 66.13
glider: 401
mission: 22
dive: 2359
start: 9 6 117 4 16 13
data:
$ID,401
$MISSION,22
$DIVE,2359
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,060917,040445,5956.8237,-17216.8066,8,0.9,23,7.7,0.4,44.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-38.4
$GPS2,060917,041534,5956.8774,-17216.7188,5,0.8,20,7.7,0.0,64.2,11,4.8
$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,104.6,50091,-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,-487.5,231,1955,1884,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.093,0.000,701,1952,1884,1884,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.28,51.85
$GC,25,-1.80,-487.5,701,1952,1884,4094,0.7,0.0,1,55,11.75,0.00,-11.12,0.000,18950,0.064,0.000,1754,1954,3054,3054,4095,0,0,0,0,0,0,25.93,25.39,25.96,10.28,51.92
$GC,90,-1.80,-487.5,1753,1953,3055,4095,3.9,-13.9,11,97,0.00,1.12,0.00,0.000,516,0.000,0.050,1754,1518,3056,3056,4095,0,0,0,0,0,0,26.26,25.78,26.27,10.53,52.12
$GC,180,-1.80,-487.5,1753,1517,3059,4095,20.4,-18.5,25,187,0.00,1.02,0.00,0.000,1030,0.000,0.028,1754,1944,3059,3059,4094,0,0,0,0,0,0,26.07,26.05,26.09,10.54,51.57
$GC,222,-1.80,-487.5,1753,1944,3060,4094,27.9,-17.3,31,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1944,3061,3061,4095,0,0,0,0,0,0,26.41,26.41,26.42,10.51,51.22
$GC,263,-1.80,-487.5,1753,1945,3061,4095,33.5,-13.5,37,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1945,3061,3061,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.47,51.26
$GC,305,-1.80,-487.5,1753,1945,3062,4095,39.1,-14.0,43,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1945,3062,3062,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.44,50.23
$GC,346,-1.80,-487.5,1753,1945,3063,4095,44.9,-13.6,49,353,0.00,1.12,0.00,0.000,260,0.000,0.043,1754,2378,3063,3063,4095,0,0,0,0,0,0,26.49,26.02,26.51,10.42,48.46
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,426,-0.45,0.0,1754,2108,3064,4094,55.3,-14.1,60,462,4.68,0.00,28.25,1.259,10244,0.054,0.000,2186,2107,2484,2484,4094,0,0,0,0,0,0,26.04,25.22,24.06,10.41,47.87
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2185,2106,2484,4094,59.3,0.0,66,510,7.57,0.00,28.05,1.236,11270,0.031,0.000,2899,2106,1915,1915,4094,0,0,0,0,0,0,25.63,25.81,23.70,10.29,47.08
$GC,546,1.80,487.5,2899,2106,1914,4094,54.0,11.4,78,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2106,1914,1914,4094,0,0,0,0,0,0,25.63,25.63,25.63,10.16,46.69
$GC,587,1.80,487.5,2898,2106,1913,4094,48.4,12.6,84,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2106,1913,1913,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.15,45.74
$GC,628,1.80,487.5,2898,2105,1912,4094,43.4,12.9,90,635,0.00,0.98,0.00,0.000,516,0.000,0.047,2899,1732,1911,1911,4094,0,0,0,0,0,0,25.96,25.56,25.97,10.14,46.10
$GC,748,1.80,487.5,2899,1732,1908,4094,28.3,12.5,109,755,0.00,0.95,0.00,0.000,1030,0.000,0.028,2899,2126,1908,1908,4094,0,0,0,0,0,0,25.93,25.89,25.95,10.12,47.32
$GC,791,1.87,534.8,2899,2126,1907,4094,23.7,10.1,115,798,0.17,0.00,4.05,0.493,10246,0.052,0.000,2928,2126,1860,1860,4094,0,0,0,0,0,0,26.05,25.33,24.27,10.18,48.70
$GC,834,1.87,534.8,2928,2126,1858,4094,18.9,11.6,121,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2126,1859,1859,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.19,50.39
$GC,875,1.87,534.8,2928,2126,1857,4094,14.4,10.9,127,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2126,1857,1857,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.20,51.45
$GC,916,1.87,534.8,2927,2126,1856,4094,9.7,11.4,133,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2126,1856,1856,4094,0,0,0,0,0,0,26.37,26.38,26.39,10.21,52.16
$GC,957,1.87,534.8,2928,2126,1855,4094,5.3,11.0,139,964,0.00,1.02,0.00,0.000,516,0.000,0.041,2929,1731,1855,1855,4094,0,0,0,0,0,0,26.41,25.96,26.42,10.22,52.87
$STATE,982,end climb,FINISH_DEPTH_REACHED
$STATE,982,begin subsurface finish
$FINISH1,1.7,1.024195,98
$GC,997,0.15,97.9,2928,2139,1854,4094,1.7,12.0,143,1010,5.53,0.00,-4.75,0.000,20998,0.021,0.000,2392,2147,2376,2376,4094,0,0,0,0,0,0,26.06,24.40,26.14,10.22,53.42
$FINISH2,-0.0
$STATE,1011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,060917,025946
$TT8_MAMPS,0.026215,0.161784
$HUMID,53.22
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.70,69.153
$10V_AH,10.17,62.803
$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,35.300,7.875,60.350,0.000,0.000,25.087,17.746,302.707,0.000,0.000,21.641,385.765,218.444,145.884,506.229,406.323,0.000,316.283,0.000,221.557,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,50.490,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,10816,145
$CAP_FILE_SIZE,30337,0
$CFSIZE,1024409600,903528448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060917,041534,5956.877,-17216.719,5,0.8,20,7.7,0.0,64.2,11,4.8