version: 66.13
glider: 401
mission: 22
dive: 2006
start: 8 31 117 3 0 27
data:
$ID,401
$MISSION,22
$DIVE,2006
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,600
$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,29
$R_STBD_OVSHOOT,65
$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
$GPS1,310817,023916,6019.4722,-17331.8438,5,0.8,23,7.1,0.3,6.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.3
$GPS2,310817,023916,6019.4722,-17331.8438,5,0.8,23,7.1,0.3,6.5,11,5.0
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$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,147.4,27516,-10.3,-10.526,-13.92,8308
$D_GRID,60
$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,10,-1.82,-585.0,2388,2002,2369,4092,0.0,0.0,0,21,6.45,0.00,-1.95,0.000,20482,0.022,0.000,1757,2002,2580,2580,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.36,52.99
$GC,27,-1.82,-585.0,1757,2002,2580,4094,0.2,0.0,1,37,0.00,0.00,-5.60,0.000,16390,0.000,0.000,1757,2002,3171,3171,4094,0,0,0,0,0,0,26.36,24.49,26.37,10.39,52.67
$GC,75,-1.82,-585.0,1756,2002,3171,4094,3.3,-12.3,7,83,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,2002,3172,3172,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.53,53.34
$GC,122,-1.82,-585.0,1756,2002,3173,4095,11.4,-18.2,13,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,2002,3173,3173,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.53,52.48
$GC,169,-1.82,-585.0,1756,2002,3175,4095,19.6,-17.8,19,178,0.00,1.20,0.00,0.000,516,0.000,0.044,1757,1529,3175,3175,4095,0,0,0,0,0,0,26.43,25.99,26.44,10.54,52.40
$GC,204,-1.82,-585.0,1756,1529,3175,4095,25.5,-17.1,23,213,0.00,0.93,0.00,0.000,1030,0.000,0.026,1757,1929,3175,3175,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.53,52.71
$GC,253,-1.82,-585.0,1756,1930,3177,4094,31.3,-11.4,29,261,0.00,1.12,0.00,0.000,260,0.000,0.044,1757,2361,3177,3177,4095,0,0,0,0,0,0,26.48,26.04,26.48,10.49,51.61
$GC,333,-1.82,-585.0,1756,2361,3178,4095,41.6,-13.4,40,342,0.00,1.02,0.00,0.000,1030,0.000,0.030,1757,1954,3179,3179,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.45,50.55
$GC,382,-1.82,-585.0,1756,1954,3180,4095,48.5,-14.3,46,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3180,3180,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.44,49.25
$GC,430,-1.82,-585.0,1756,1954,3181,4094,55.1,-14.1,52,439,0.00,1.10,0.00,0.000,516,0.000,0.050,1757,1515,3181,3181,4095,0,0,0,0,0,0,26.56,26.10,26.57,10.43,48.74
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,460,begin apogee
$GC,473,-0.45,0.0,1756,2128,3182,4094,60.1,-13.8,56,516,4.60,0.00,33.70,1.312,10244,0.052,0.000,2185,2128,2484,2484,4095,0,0,0,0,0,0,26.13,25.18,24.10,10.42,48.38
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,523,1.82,585.0,2185,2128,2484,4095,64.2,0.0,61,568,7.70,0.00,33.50,1.280,11270,0.030,0.000,2905,2128,1802,1802,4094,0,0,0,0,0,0,25.50,25.67,23.70,10.28,47.63
$GC,609,1.82,585.0,2904,2127,1801,4094,57.5,12.3,71,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2128,1801,1801,4094,0,0,0,0,0,0,25.49,25.51,25.50,10.13,46.49
$GC,658,1.82,585.0,2903,2128,1800,4094,50.9,13.1,77,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2128,1799,1799,4094,0,0,0,0,0,0,25.72,25.75,25.74,10.12,46.61
$GC,707,1.82,585.0,2903,2128,1797,4094,44.4,13.0,83,717,0.00,1.12,0.00,0.000,516,0.000,0.044,2904,1708,1797,1797,4094,0,0,0,0,0,0,25.89,25.50,25.90,10.12,46.92
$GC,815,1.82,585.0,2903,1706,1795,4094,30.8,12.0,98,824,0.00,1.05,0.00,0.000,1030,0.000,0.030,2904,2132,1794,1794,4094,0,0,0,0,0,0,25.81,25.79,25.85,10.11,48.07
$GC,863,1.82,585.0,2904,2131,1794,4094,25.3,10.9,104,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1794,1794,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,48.58
$GC,911,2.17,818.4,2904,2131,1793,4094,21.5,7.6,110,930,1.10,0.00,13.35,0.776,10246,0.025,0.000,3015,2132,1529,1529,4094,0,0,0,0,0,0,25.96,25.46,24.60,10.16,49.40
$GC,970,2.17,818.4,3014,2131,1527,4094,14.8,13.3,117,979,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2132,1527,1527,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.14,50.78
$GC,1019,2.17,818.4,3014,2131,1526,4094,8.2,13.8,123,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2132,1526,1526,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.13,51.69
$STATE,1063,end climb,FINISH_DEPTH_REACHED
$STATE,1063,begin subsurface finish
$FINISH1,1.6,1.024140,102
$GC,1075,0.15,101.7,3015,2131,1524,4094,1.6,14.0,129,1094,6.45,0.00,-7.50,0.000,20486,0.021,0.000,2390,2137,2371,2371,4094,0,0,0,0,0,0,25.98,24.37,26.03,10.14,51.96
$FINISH2,0.1
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,011953
$TT8_MAMPS,0.025466,0.243425
$HUMID,52.36
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.70,58.289
$10V_AH,10.13,54.473
$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,26.300,9.675,80.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,368.908,0.000,127.230,545.901,116.109,0.000,359.758,0.000,320.907,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,49.725,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.452,355.914,281.708,417.502,542.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,14331,131
$CAP_FILE_SIZE,26036,0
$CFSIZE,1024409600,920911872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,023916,6019.472,-17331.844,5,0.8,23,7.1,0.3,6.5,11,5.0