version: 66.13
glider: 401
mission: 22
dive: 2362
start: 9 6 117 5 24 57
data:
$ID,401
$MISSION,22
$DIVE,2362
$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,30
$R_STBD_OVSHOOT,53
$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
$GPS1,060917,051339,5956.9180,-17214.8770,8,0.8,30,7.8,0.5,1.7,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-40.9
$GPS2,060917,052418,5956.9556,-17214.7480,6,0.7,29,7.8,0.6,84.0,11,5.0
$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,105.5,48454,-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,-487.5,238,1938,1892,4092,0.0,0.0,0,22,8.52,0.00,0.00,0.000,2049,0.099,0.000,948,1935,1893,1893,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,52.71
$GC,29,-1.80,-487.5,947,1936,1892,4094,0.7,0.0,1,55,8.60,0.00,-11.15,0.000,18950,0.041,0.000,1755,1936,3053,3053,4095,0,0,0,0,0,0,25.90,25.41,25.95,10.28,52.20
$GC,96,-1.80,-487.5,1754,1935,3054,4095,-0.0,-0.4,9,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3054,3054,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.52,52.63
$GC,146,-1.80,-487.5,1755,1935,3055,4095,4.0,-13.4,15,155,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3055,3055,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.53,52.00
$GC,196,-1.80,-487.5,1754,1935,3057,4095,11.9,-17.0,21,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3057,3057,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.54,51.41
$GC,246,-1.80,-487.5,1754,1935,3058,4095,21.2,-18.8,27,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3058,3058,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.53,51.77
$GC,296,-1.80,-487.5,1754,1935,3059,4095,28.9,-13.5,33,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3060,3060,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.47,50.70
$GC,346,-1.80,-487.5,1755,1935,3061,4095,35.7,-13.6,39,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3061,3061,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.44,49.48
$GC,395,-1.80,-487.5,1754,1935,3062,4095,42.8,-15.2,45,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3062,3062,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.43,48.70
$GC,445,-1.80,-487.5,1754,1935,3064,4095,50.3,-15.5,51,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3064,3064,4094,0,0,0,0,0,0,26.56,26.57,26.57,10.41,47.16
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,487,-0.45,0.0,1755,2120,3065,4094,55.6,-14.9,55,530,4.65,0.00,28.38,1.267,10246,0.054,0.000,2186,2120,2484,2484,4094,0,0,0,0,0,0,26.07,24.89,24.08,10.40,47.59
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,537,1.80,487.5,2186,2119,2484,4094,60.2,0.0,60,581,7.57,1.10,28.15,1.248,10756,0.031,0.043,2900,1716,1916,1916,4094,0,0,0,0,0,0,25.67,24.49,23.69,10.29,46.49
$GC,712,1.80,487.5,2900,1715,1912,4094,42.7,12.8,83,721,0.00,1.02,0.00,0.000,1030,0.000,0.027,2900,2135,1911,1911,4094,0,0,0,0,0,0,25.73,25.70,25.76,10.13,46.29
$GC,762,1.80,487.5,2900,2135,1911,4094,36.3,13.3,89,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2135,1911,1911,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.13,46.18
$GC,812,1.80,487.5,2900,2135,1909,4094,29.9,12.8,95,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2135,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,47.04
$GC,862,1.80,487.5,2900,2135,1908,4094,23.7,11.8,101,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2135,1907,1907,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.15,46.92
$GC,912,1.90,549.6,2900,2135,1907,4094,18.7,9.8,107,923,0.22,0.00,4.78,0.529,10246,0.044,0.000,2933,2135,1842,1842,4094,0,0,0,0,0,0,26.10,25.39,24.37,10.19,49.05
$GC,964,1.90,549.6,2933,2135,1841,4094,12.8,11.8,113,973,0.00,1.10,0.00,0.000,516,0.000,0.046,2933,1717,1841,1841,4094,0,0,0,0,0,0,26.34,25.88,26.34,10.20,51.65
$STATE,1053,end climb,FINISH_DEPTH_REACHED
$STATE,1053,begin subsurface finish
$FINISH1,1.5,1.024202,97
$GC,1068,0.15,97.4,2933,2148,1838,4094,1.5,11.1,126,1086,5.55,0.00,-4.62,0.000,20486,0.020,0.000,2382,2155,2375,2375,4094,0,0,0,0,0,0,26.17,25.47,26.21,10.22,52.20
$FINISH2,0.5
$STATE,1087,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1087,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,060917,040928
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.67
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.69,69.234
$10V_AH,10.01,62.879
$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,35.125,4.850,61.300,0.000,0.000,27.377,21.333,276.682,0.000,0.000,31.169,377.983,0.000,122.414,829.627,399.483,0.000,350.846,0.000,314.316,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,111.690,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.973,347.865,275.153,408.004,529.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,10842,128
$CAP_FILE_SIZE,28568,0
$CFSIZE,1024409600,903380992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060917,052418,5956.956,-17214.748,6,0.7,29,7.8,0.6,84.0,11,5.0