version: 66.13
glider: 401
mission: 22
dive: 2366
start: 9 6 117 6 56 3
data:
$ID,401
$MISSION,22
$DIVE,2366
$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,42
$R_STBD_OVSHOOT,37
$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
$GPS1,060917,063521,5956.8389,-17212.6680,5,0.8,17,7.8,0.0,60.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-3.4
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2385,1921,2376,4092,0.0,0.0,0,23,6.32,0.00,-2.12,0.000,20482,0.021,0.000,1764,1927,2597,2597,4094,0,0,0,0,0,0,26.19,28.83,26.24,10.34,54.41
$GC,29,-1.80,-487.5,1764,1927,2597,4094,0.2,0.0,1,38,0.00,0.00,-4.43,0.000,16902,0.000,0.000,1764,1927,3055,3055,4094,0,0,0,0,0,0,26.49,24.49,26.49,10.39,53.54
$GC,77,-1.80,-487.5,1763,1927,3056,4094,3.2,-11.9,7,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1927,3057,3057,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.49,53.93
$GC,125,-1.80,-487.5,1764,1927,3059,4094,10.7,-16.2,13,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1927,3059,3059,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.49,53.54
$GC,173,-1.80,-487.5,1763,1927,3060,4095,19.2,-17.0,19,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1927,3060,3060,4095,0,0,0,0,0,0,26.52,26.54,26.53,10.49,53.62
$GC,222,-1.80,-487.5,1763,1928,3061,4095,27.7,-17.7,25,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1928,3061,3061,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.47,52.95
$GC,269,-1.80,-487.5,1764,1927,3062,4095,33.7,-12.6,31,279,0.00,1.17,0.00,0.000,260,0.000,0.044,1764,2369,3062,3062,4094,0,0,0,0,0,0,26.57,26.08,26.58,10.43,52.04
$GC,351,-1.80,-487.5,1764,2369,3064,4094,44.7,-13.8,42,361,0.00,1.00,0.00,0.000,1030,0.000,0.028,1764,1972,3065,3065,4095,0,0,0,0,0,0,26.28,26.24,26.32,10.39,50.11
$GC,400,-1.80,-487.5,1764,1972,3066,4095,51.7,-14.2,48,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1972,3066,3066,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.38,49.76
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,429,-0.45,0.0,1764,2139,3067,4095,55.0,-14.8,50,465,4.55,0.00,28.40,1.257,10244,0.055,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.14,25.29,24.12,10.38,49.25
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2185,2139,2484,4094,58.7,0.0,54,516,7.60,0.00,28.10,1.229,11270,0.031,0.000,2900,2139,1914,1914,4095,0,0,0,0,0,0,25.68,25.87,23.75,10.26,48.34
$GC,558,1.80,487.5,2899,2138,1913,4095,52.5,12.0,64,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2139,1913,1913,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.13,46.92
$GC,608,1.80,487.5,2899,2139,1911,4094,45.8,13.2,70,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2139,1911,1911,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.12,47.28
$GC,659,1.80,487.5,2899,2138,1910,4094,39.0,13.7,76,668,0.00,1.17,0.00,0.000,516,0.000,0.047,2900,1700,1910,1910,4094,0,0,0,0,0,0,26.04,25.63,26.06,10.11,47.75
$GC,779,1.80,487.5,2899,1700,1906,4094,23.0,12.4,93,788,0.00,1.00,0.00,0.000,1030,0.000,0.028,2899,2114,1907,1907,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.13,47.75
$GC,828,1.86,522.6,2899,2113,1905,4094,18.1,10.3,99,838,0.10,0.00,3.25,0.355,10246,0.076,0.000,2920,2114,1875,1875,4094,0,0,0,0,0,0,26.10,24.89,24.24,10.17,49.56
$GC,879,1.86,522.6,2919,2114,1874,4094,12.4,12.4,105,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2114,1875,1875,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.18,52.00
$GC,929,1.86,522.6,2919,2113,1873,4094,6.3,12.3,111,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2114,1872,1872,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.20,53.03
$STATE,964,end climb,FINISH_DEPTH_REACHED
$STATE,964,begin subsurface finish
$FINISH1,1.4,1.024203,97
$GC,978,0.15,97.3,2920,2113,1871,4094,1.4,11.3,116,997,5.45,0.00,-4.70,0.000,20998,0.021,0.000,2384,2123,2374,2374,4095,0,0,0,0,0,0,26.15,25.44,26.20,10.20,53.07
$FINISH2,0.0
$STATE,998,end subsurface finish,CONTROL_FINISHED_OK
$STATE,998,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,051817
$TT8_MAMPS,0.026215,0.250915
$HUMID,53.42
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.75,69.338
$10V_AH,10.01,62.965
$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,24.025,5.275,59.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,337.945,0.000,109.449,490.629,122.759,0.000,316.968,0.000,290.367,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,46.665,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.311,320.629,253.721,376.274,489.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10887,118
$CAP_FILE_SIZE,23127,0
$CFSIZE,1024409600,903184384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,063521,5956.839,-17212.668,5,0.8,17,7.8,0.0,60.3,10,4.8