version: 66.13
glider: 401
mission: 22
dive: 2365
start: 9 6 117 6 36 0
data:
$ID,401
$MISSION,22
$DIVE,2365
$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,27
$R_STBD_OVSHOOT,63
$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
$GPS1,060917,062424,5956.8345,-17212.8086,8,0.8,43,7.8,0.6,116.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-40.2
$GPS2,060917,063521,5956.8389,-17212.6680,5,0.8,17,7.8,0.0,60.3,10,4.8
$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,106.2,46591,-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,-487.5,239,1939,1826,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.089,0.000,716,1937,1826,1826,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.25,52.28
$GC,26,-1.80,-487.5,715,1937,1826,4094,0.6,0.0,1,56,11.27,0.00,-11.77,0.000,18950,0.047,0.000,1754,1937,3054,3054,4094,0,0,0,0,0,0,25.91,25.34,25.98,10.26,52.71
$GC,91,-1.80,-487.5,1753,1937,3054,4094,-0.1,-0.1,11,98,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1937,3054,3054,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.53,52.16
$GC,133,-1.80,-487.5,1753,1937,3054,4094,1.1,-4.8,17,140,0.00,1.05,0.00,0.000,516,0.000,0.050,1754,1522,3054,3054,4095,0,0,0,0,0,0,26.32,25.83,26.32,10.54,52.36
$GC,217,-1.80,-487.5,1753,1522,3057,4095,14.8,-19.0,30,224,0.00,0.93,0.00,0.000,1030,0.000,0.025,1754,1924,3057,3057,4094,0,0,0,0,0,0,26.11,26.10,26.13,10.53,51.85
$GC,259,-1.80,-487.5,1754,1924,3058,4094,22.3,-17.6,36,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1924,3059,3059,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.53,51.41
$GC,300,-1.80,-487.5,1753,1925,3060,4094,28.8,-13.6,42,307,0.00,1.15,0.00,0.000,260,0.000,0.044,1754,2365,3059,3059,4094,0,0,0,0,0,0,26.46,25.98,26.47,10.49,51.41
$GC,408,-1.80,-487.5,1753,2364,3061,4094,43.1,-13.7,59,415,0.00,1.02,0.00,0.000,1030,0.000,0.028,1754,1957,3062,3062,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.43,48.70
$GC,450,-1.80,-487.5,1753,1957,3063,4095,49.1,-13.9,65,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1957,3063,3063,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.42,48.07
$STATE,486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,486,begin apogee
$GC,500,-0.45,0.0,1753,2132,3064,4095,55.1,-14.5,71,536,4.65,0.00,28.20,1.254,10244,0.054,0.000,2184,2133,2484,2484,4094,0,0,0,0,0,0,26.06,25.24,24.06,10.40,47.83
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,543,1.80,487.5,2184,2132,2484,4094,59.3,0.0,77,584,7.60,0.00,27.98,1.230,11270,0.031,0.000,2900,2133,1915,1915,4094,0,0,0,0,0,0,25.65,25.83,23.70,10.28,46.73
$GC,620,1.80,487.5,2899,2132,1914,4094,53.4,12.0,89,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1914,1914,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.15,45.82
$GC,661,1.80,487.5,2899,2132,1913,4094,48.3,12.5,95,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1913,1913,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.14,46.06
$GC,702,1.80,487.5,2900,2132,1912,4094,43.0,12.3,101,708,0.00,1.15,0.00,0.000,516,0.000,0.047,2901,1705,1912,1912,4094,0,0,0,0,0,0,25.96,25.53,25.97,10.14,46.81
$GC,822,1.80,487.5,2900,1704,1908,4094,27.8,12.7,120,828,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2124,1908,1908,4094,0,0,0,0,0,0,25.91,25.87,25.94,10.12,47.16
$GC,864,1.86,528.1,2899,2124,1907,4094,23.1,10.2,126,872,0.10,0.00,3.75,0.454,10246,0.076,0.000,2921,2124,1867,1867,4094,0,0,0,0,0,0,26.06,25.30,24.22,10.15,47.91
$GC,907,1.93,570.6,2920,2124,1866,4094,18.7,10.1,132,915,0.10,0.00,4.03,0.460,10246,0.072,0.000,2941,2125,1818,1818,4094,0,0,0,0,0,0,26.09,25.37,24.34,10.18,49.84
$GC,950,1.93,570.6,2940,2124,1817,4094,13.7,12.8,138,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2124,1817,1817,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,51.73
$GC,992,1.93,570.6,2941,2124,1815,4094,8.3,13.0,144,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2124,1815,1815,4094,0,0,0,0,0,0,26.34,26.35,26.36,10.19,52.91
$GC,1033,1.93,570.6,2941,2124,1814,4094,2.8,13.3,150,1039,0.00,1.10,0.00,0.000,516,0.000,0.047,2941,1709,1814,1814,4094,0,0,0,0,0,0,26.39,25.90,26.39,10.20,52.83
$STATE,1044,end climb,FINISH_DEPTH_REACHED
$STATE,1044,begin subsurface finish
$FINISH1,0.6,1.024204,97
$GC,1060,0.15,97.3,2941,2155,1813,4094,0.6,13.0,152,1073,5.70,0.00,-5.20,0.000,20998,0.021,0.000,2386,2159,2376,2376,4094,0,0,0,0,0,0,26.10,24.38,26.15,10.20,53.38
$FINISH2,-0.0
$STATE,1074,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1074,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,051817
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.42
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.70,69.318
$10V_AH,10.15,62.937
$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,35.050,9.075,63.950,0.000,0.000,24.146,17.747,308.927,0.000,0.000,19.073,411.066,234.292,150.087,525.792,412.499,0.000,327.355,0.000,234.463,0.000,0.542,0.000
$DEVICE_MAMPS,88.740,89.505,1253.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10883,154
$CAP_FILE_SIZE,32661,0
$CFSIZE,1024409600,903233536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060917,063521,5956.839,-17212.668,5,0.8,17,7.8,0.0,60.3,10,4.8