version: 66.13
glider: 401
mission: 22
dive: 2364
start: 9 6 117 6 4 33
data:
$ID,401
$MISSION,22
$DIVE,2364
$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,38
$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,0.05
$_SM_ANGLEo,-4.7
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,2387,1973,2376,4092,0.0,0.0,0,31,6.43,0.00,-6.50,0.000,20486,0.024,0.000,1764,1974,3057,3057,4095,0,0,0,0,0,0,26.10,24.28,26.16,10.34,54.21
$GC,37,-1.80,-487.5,1763,1974,3057,4095,0.1,-2.1,2,46,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1974,3057,3057,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.48,55.15
$GC,85,-1.80,-487.5,1763,1973,3058,4094,6.2,-14.0,8,93,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1973,3059,3059,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.48,54.17
$GC,133,-1.80,-487.5,1763,1973,3060,4095,14.2,-18.5,14,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1973,3060,3060,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.49,54.84
$GC,180,-1.80,-487.5,1763,1973,3062,4094,23.2,-18.9,20,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1973,3062,3062,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,53.81
$GC,228,-1.80,-487.5,1763,1973,3063,4095,30.1,-13.9,26,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1972,3063,3063,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.42,52.87
$GC,276,-1.80,-487.5,1763,1973,3064,4094,36.7,-14.2,32,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1973,3064,3064,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.40,52.04
$GC,323,-1.80,-487.5,1763,1973,3066,4095,43.5,-14.9,38,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1973,3066,3066,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.38,50.78
$GC,371,-1.80,-487.5,1763,1973,3067,4094,50.7,-15.1,44,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1973,3067,3067,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.38,50.07
$STATE,400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,400,begin apogee
$GC,413,-0.45,0.0,1763,2140,3068,4094,55.8,-14.3,48,449,4.60,0.00,28.52,1.264,10246,0.056,0.000,2186,2140,2483,2483,4095,0,0,0,0,0,0,26.10,25.25,24.07,10.38,49.76
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$GC,456,1.80,487.5,2186,2140,2483,4095,59.6,0.0,52,501,7.60,0.00,28.12,1.235,10246,0.030,0.000,2900,2140,1916,1916,4094,0,0,0,0,0,0,25.64,24.46,23.72,10.25,48.58
$GC,542,1.80,487.5,2899,2140,1914,4094,53.4,12.2,62,552,0.00,1.17,0.00,0.000,516,0.000,0.047,2900,1705,1914,1914,4094,0,0,0,0,0,0,25.67,25.29,25.69,10.12,48.11
$GC,663,1.80,487.5,2899,1704,1911,4094,38.2,12.9,79,673,0.00,1.05,0.00,0.000,1030,0.000,0.028,2900,2131,1911,1911,4094,0,0,0,0,0,0,25.79,25.73,25.81,10.10,48.42
$GC,713,1.80,487.5,2900,2131,1909,4094,32.3,12.6,85,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1909,1909,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.09,48.34
$GC,762,1.80,487.5,2899,2131,1908,4094,26.3,12.2,91,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1908,1908,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.09,48.26
$GC,811,1.91,558.7,2899,2130,1907,4094,21.3,9.7,97,821,0.22,0.00,5.25,0.584,10246,0.044,0.000,2933,2131,1832,1832,4094,0,0,0,0,0,0,26.08,25.39,24.36,10.15,49.33
$GC,862,1.91,558.7,2932,2131,1831,4094,15.9,11.4,103,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2131,1830,1830,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.16,51.37
$GC,911,1.91,558.7,2932,2131,1830,4094,10.0,12.0,109,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2131,1829,1829,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.18,52.52
$GC,961,1.91,558.7,2931,2131,1827,4094,3.6,12.7,115,970,0.00,1.12,0.00,0.000,516,0.000,0.047,2933,1705,1827,1827,4094,0,0,0,0,0,0,26.39,25.90,26.41,10.18,53.62
$STATE,978,end climb,SURFACE_DEPTH_REACHED
$STATE,978,begin surface coast
$FINISH,-0.1,1.024192
$STATE,993,end surface coast,CONTROL_FINISHED_OK
$STATE,993,begin surface
$SM_CCo,1102,0.00,0.000,0,0,1826,565.82
$SM_GC,0.79,28.02,0.60,0.00,0.018,0.029,0.000,239,1985,1826,-6.55,-1.37,565.82,0,0,0,0,0,0,26.15,26.19,26.20
$IRIDIUM_FIX,5955.74,-17228.01,060917,040928
$TT8_MAMPS,0.025466,0.256907
$HUMID,54.29
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.72,69.276
$10V_AH,10.07,62.918
$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,46.875,4.975,61.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,343.340,61.148,136.947,493.757,137.348,0.000,345.712,0.000,293.983,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,47.430,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.069,323.341,255.836,379.553,491.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,10736,119
$CAP_FILE_SIZE,24950,0
$CFSIZE,1024409600,903282688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,062424,5956.834,-17212.809,8,0.8,43,7.8,0.6,116.9,10,4.9