version: 66.13
glider: 401
mission: 22
dive: 2361
start: 9 6 117 4 54 9
data:
$ID,401
$MISSION,22
$DIVE,2361
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,060917,041534,5956.8774,-17216.7188,5,0.8,20,7.7,0.0,64.2,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-1.4
$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,-487.5,2393,1964,2392,4092,0.0,0.0,0,25,6.43,0.00,-4.57,0.000,20482,0.021,0.000,1761,1964,2875,2875,4094,0,0,0,0,0,0,26.17,28.83,26.19,10.34,53.38
$GC,31,-1.80,-487.5,1761,1964,2875,4094,0.1,-1.5,2,38,0.00,0.00,-1.77,0.000,16390,0.000,0.000,1761,1964,3058,3058,4095,0,0,0,0,0,0,26.43,24.45,26.39,10.44,53.85
$GC,73,-1.80,-487.5,1760,1964,3058,4095,2.8,-11.6,8,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3058,3058,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.49,53.78
$GC,114,-1.80,-487.5,1760,1964,3060,4095,10.1,-18.7,14,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3060,3060,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.49,53.34
$GC,155,-1.80,-487.5,1760,1964,3062,4095,17.3,-17.6,20,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3061,3061,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.50,53.38
$GC,196,-1.80,-487.5,1760,1964,3063,4094,24.7,-18.6,26,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.50,53.54
$GC,238,-1.80,-487.5,1760,1964,3064,4095,30.9,-13.6,32,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.45,52.99
$GC,279,-1.80,-487.5,1760,1964,3065,4095,36.5,-14.0,38,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.42,51.89
$GC,320,-1.80,-487.5,1760,1964,3066,4095,42.2,-13.7,44,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3065,3065,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.41,51.02
$GC,361,-1.80,-487.5,1760,1964,3067,4094,48.1,-14.5,50,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3067,3067,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.39,50.23
$GC,402,-1.80,-487.5,1760,1964,3068,4095,53.9,-14.0,56,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1964,3068,3068,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.38,49.76
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,426,-0.45,0.0,1761,2138,3068,4095,56.3,-14.7,58,462,4.62,0.00,28.50,1.269,10246,0.055,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.11,25.27,24.10,10.38,49.21
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2185,2138,2484,4094,60.5,0.0,64,512,7.60,1.17,28.00,1.243,10756,0.030,0.045,2900,1708,1915,1915,4094,0,0,0,0,0,0,25.65,24.86,23.72,10.26,49.09
$GC,604,1.80,487.5,2899,1708,1913,4094,46.9,12.8,85,611,0.00,1.05,0.00,0.000,1030,0.000,0.028,2900,2131,1912,1912,4094,0,0,0,0,0,0,25.61,25.58,25.63,10.12,47.44
$GC,646,1.80,487.5,2899,2131,1911,4094,41.2,13.0,91,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1911,1911,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.12,47.79
$GC,688,1.80,487.5,2899,2131,1910,4094,35.9,12.8,97,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2131,1910,1910,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.11,48.38
$GC,729,1.80,487.5,2899,2131,1908,4094,30.4,14.1,103,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1908,1908,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.10,47.75
$GC,770,1.80,487.5,2899,2131,1908,4094,24.8,13.0,109,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1908,1908,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.12,48.89
$GC,811,1.83,502.1,2899,2131,1907,4094,20.4,10.6,115,818,0.00,0.00,2.30,0.142,8198,0.000,0.000,2900,2132,1898,1898,4094,0,0,0,0,0,0,26.29,25.17,24.05,10.16,49.84
$GC,854,1.83,506.5,2900,2131,1896,4094,15.9,10.7,121,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1897,1897,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,51.85
$GC,895,1.83,506.5,2899,2131,1896,4094,11.4,10.9,127,901,0.00,1.10,0.00,0.000,516,0.000,0.046,2900,1709,1895,1895,4094,0,0,0,0,0,0,26.37,25.91,26.39,10.19,52.71
$STATE,973,end climb,SURFACE_DEPTH_REACHED
$STATE,973,begin surface coast
$FINISH,-0.0,1.002603
$STATE,986,end surface coast,CONTROL_FINISHED_OK
$STATE,986,begin surface
$SM_CCo,1094,0.00,0.000,0,0,1892,509.15
$SM_GC,0.81,27.67,0.60,0.00,0.018,0.030,0.000,239,1979,1892,-6.55,-1.23,509.15,0,0,0,0,0,0,26.18,26.20,26.22
$IRIDIUM_FIX,5955.74,-17228.01,060917,025946
$TT8_MAMPS,0.026215,0.110103
$HUMID,54.64
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.72,69.195
$10V_AH,10.32,62.841
$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,46.325,4.950,58.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.183,271.510,159.490,207.075,147.121,0.000,321.538,0.000,215.842,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,45.900,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330644
$DATA_FILE_SIZE,10832,142
$CAP_FILE_SIZE,26990,0
$CFSIZE,1024409600,903430144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,051339,5956.918,-17214.877,8,0.8,30,7.8,0.5,1.7,11,5.0