version: 66.13
glider: 401
mission: 22
dive: 2363
start: 9 6 117 5 45 13
data:
$ID,401
$MISSION,22
$DIVE,2363
$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,21
$R_STBD_OVSHOOT,32
$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
$GPS1,060917,052418,5956.9556,-17214.7480,6,0.7,29,7.8,0.6,84.0,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-3.6
$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,5,begin dive
$GC,12,-1.80,-487.5,2382,1958,2375,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.021,0.000,1827,1958,2375,2375,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.34,52.95
$GC,26,-1.80,-487.5,1827,1958,2375,4094,0.0,0.0,1,38,0.43,0.00,-6.55,0.000,20998,0.033,0.000,1775,1958,3056,3056,4095,0,0,0,0,0,0,26.17,24.48,26.19,10.34,52.95
$GC,74,-1.80,-487.5,1774,1958,3056,4095,0.3,-1.5,8,81,0.00,1.12,0.00,0.000,516,0.000,0.052,1775,1519,3056,3056,4095,0,0,0,0,0,0,26.39,25.93,26.41,10.49,52.95
$GC,176,-1.80,-487.5,1774,1518,3060,4095,17.1,-17.0,24,183,0.00,1.02,0.00,0.000,1030,0.000,0.029,1775,1944,3060,3060,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.50,53.15
$GC,218,-1.80,-487.5,1774,1944,3061,4095,24.3,-16.6,30,225,0.00,1.15,0.00,0.000,260,0.000,0.047,1775,2381,3061,3061,4094,0,0,0,0,0,0,26.50,26.02,26.51,10.49,53.34
$GC,308,-1.80,-487.5,1774,2381,3063,4094,35.6,-12.8,44,314,0.00,1.05,0.00,0.000,1030,0.000,0.029,1775,1965,3063,3063,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.42,50.94
$GC,350,-1.80,-487.5,1775,1965,3064,4094,41.1,-13.2,50,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1965,3064,3064,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,49.84
$GC,391,-1.80,-487.5,1774,1965,3065,4094,46.8,-13.7,56,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1965,3065,3065,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.39,49.76
$GC,432,-1.80,-487.5,1774,1965,3066,4095,52.5,-14.0,62,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1965,3066,3066,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.38,49.01
$STATE,449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,463,-0.45,0.0,1775,2146,3067,4095,55.9,-14.3,65,499,4.43,0.00,28.30,1.256,10244,0.054,0.000,2185,2147,2484,2484,4095,0,0,0,0,0,0,26.12,25.29,24.13,10.38,49.09
$STATE,500,end apogee,CONTROL_FINISHED_OK
$STATE,500,begin climb
$GC,506,1.80,487.5,2186,2146,2484,4095,59.3,0.0,71,547,7.57,0.00,27.92,1.231,11270,0.031,0.000,2900,2147,1916,1916,4095,0,0,0,0,0,0,25.67,25.86,23.75,10.26,48.42
$GC,583,1.80,487.5,2899,2146,1915,4095,53.8,11.4,83,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1915,1915,4094,0,0,0,0,0,0,25.65,25.65,25.65,10.13,47.55
$GC,624,1.80,487.5,2899,2146,1914,4094,48.7,12.4,89,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1913,1913,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.13,47.36
$GC,666,1.80,487.5,2900,2146,1913,4094,43.6,12.0,95,672,0.00,1.17,0.00,0.000,516,0.000,0.047,2900,1709,1912,1912,4094,0,0,0,0,0,0,25.97,25.54,25.98,10.12,47.59
$GC,773,1.80,487.5,2900,1709,1909,4094,29.2,13.5,112,780,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2127,1909,1909,4094,0,0,0,0,0,0,25.91,25.86,25.93,10.10,48.42
$GC,816,1.80,487.5,2900,2127,1908,4094,23.9,12.4,118,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.12,48.54
$GC,857,1.91,558.1,2900,2127,1907,4094,19.6,9.7,124,870,0.28,0.00,5.28,0.571,10246,0.039,0.000,2938,2127,1832,1832,4094,0,0,0,0,0,0,26.08,25.48,24.38,10.16,49.64
$GC,905,1.91,558.1,2938,2127,1831,4094,14.2,11.6,131,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2127,1831,1831,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.16,51.77
$GC,947,1.91,558.1,2937,2127,1830,4094,8.9,13.2,137,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2127,1830,1830,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.18,52.91
$GC,988,1.91,558.1,2937,2127,1828,4094,3.9,12.6,143,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2128,1828,1828,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.19,53.07
$STATE,998,end climb,FINISH_DEPTH_REACHED
$STATE,998,begin subsurface finish
$FINISH1,1.8,1.024206,97
$GC,1012,0.15,97.1,2938,2132,1828,4094,1.8,12.8,145,1032,5.70,1.20,-5.07,0.000,20996,0.029,1.232,2388,1703,2377,2377,4094,0,0,0,0,0,0,26.10,24.06,26.15,10.19,54.33
$FINISH2,0.0
$STATE,1033,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1033,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,060917,040928
$TT8_MAMPS,0.025466,0.110103
$HUMID,54.13
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.75,69.255
$10V_AH,10.32,62.890
$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,24.000,8.700,61.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.524,222.539,143.331,216.557,127.695,0.000,310.569,0.000,224.427,0.000,0.544,0.000
$DEVICE_MAMPS,53.550,1232.415,1256.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,10782,148
$CAP_FILE_SIZE,26090,0
$CFSIZE,1024409600,903331840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,052418,5956.956,-17214.748,6,0.7,29,7.8,0.6,84.0,11,5.0