version: 66.13
glider: 401
mission: 22
dive: 2376
start: 9 6 117 10 47 55
data:
$ID,401
$MISSION,22
$DIVE,2376
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,060917,100812,5955.2998,-17209.0020,6,0.8,22,7.8,0.7,172.1,11,4.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-3.5
$GPS2,060917,100812,5955.2998,-17209.0020,6,0.8,22,7.8,0.7,172.1,11,4.9
$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,104.5,42328,-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,11,-1.80,-487.5,2385,1938,2379,4092,0.0,0.0,0,30,6.38,0.00,-6.65,0.000,20486,0.020,0.000,1759,1939,3057,3057,4095,0,0,0,0,0,0,26.22,24.31,26.26,10.33,54.13
$GC,36,-1.80,-487.5,1759,1938,3057,4095,-0.0,-1.2,2,46,0.00,1.08,0.00,0.000,516,0.000,0.057,1759,1524,3057,3057,4094,0,0,0,0,0,0,26.41,25.94,26.42,10.48,54.21
$GC,105,-1.80,-487.5,1759,1524,3059,4094,6.5,-10.6,11,115,0.00,1.00,0.00,0.000,1030,0.000,0.025,1759,1958,3059,3059,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.49,54.25
$GC,155,-1.80,-487.5,1758,1959,3059,4095,11.8,-10.8,17,163,0.00,1.05,0.00,0.000,260,0.000,0.044,1759,2363,3060,3060,4094,0,0,0,0,0,0,26.51,26.06,26.51,10.49,53.93
$GC,211,-1.80,-487.5,1758,2363,3061,4094,18.0,-12.0,24,220,0.00,0.90,0.00,0.000,1030,0.000,0.030,1759,2000,3061,3061,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.49,54.09
$GC,261,-1.80,-487.5,1759,2000,3062,4095,23.8,-11.9,30,271,0.00,1.23,0.00,0.000,516,0.000,0.054,1759,1524,3062,3062,4094,0,0,0,0,0,0,26.55,26.03,26.57,10.49,53.11
$GC,312,-1.80,-487.5,1758,1523,3063,4094,29.6,-11.9,36,322,0.00,1.25,0.00,0.000,1030,0.000,0.026,1759,2045,3063,3063,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.47,53.07
$GC,363,-1.80,-487.5,1758,2045,3064,4094,34.8,-10.5,42,372,0.00,0.82,0.00,0.000,260,0.000,0.047,1759,2364,3064,3064,4094,0,0,0,0,0,0,26.60,26.15,26.61,10.43,52.28
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,576,-0.45,0.0,1759,2121,3068,4095,55.8,-11.9,71,612,4.60,0.00,28.50,1.262,10244,0.055,0.000,2186,2121,2484,2484,4095,0,0,0,0,0,0,26.18,25.31,24.13,10.38,48.97
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,619,1.80,487.5,2185,2121,2484,4095,59.9,0.0,75,663,7.50,1.00,28.08,1.238,10756,0.029,0.045,2899,1725,1916,1916,4094,0,0,0,0,0,0,25.61,25.56,23.74,10.26,48.46
$GC,763,1.87,529.0,2898,1725,1914,4094,49.5,10.2,93,773,0.15,0.98,4.12,0.637,11270,0.046,0.028,2920,2125,1866,1866,4094,0,0,0,0,0,0,25.60,25.65,23.87,10.12,47.32
$GC,815,1.91,558.9,2919,2124,1865,4094,43.6,10.3,99,825,0.00,1.17,3.55,0.518,8452,0.000,0.048,2920,2572,1831,1831,4094,0,0,0,0,0,0,26.02,24.77,23.94,10.10,47.48
$GC,852,1.93,572.8,2920,2572,1830,4094,39.4,10.6,103,863,0.15,1.25,2.58,0.268,11270,0.034,0.027,2944,2078,1816,1816,4094,0,0,0,0,0,0,25.77,25.74,23.91,10.09,47.87
$GC,904,1.93,572.8,2944,2077,1815,4094,34.2,11.2,109,914,0.00,0.90,0.00,0.000,516,0.000,0.052,2945,1730,1815,1815,4094,0,0,0,0,0,0,26.15,25.70,26.17,10.09,48.18
$GC,1167,1.95,584.2,2944,1730,1809,4094,10.2,10.6,147,1177,0.00,0.73,0.12,0.004,9222,0.000,0.027,2945,2054,1809,1809,4094,0,0,0,0,0,0,26.19,26.17,26.22,10.19,53.85
$GC,1217,2.11,692.2,2944,2054,1808,4094,5.4,9.2,153,1235,0.47,1.35,7.35,0.549,10500,0.031,0.049,2996,2560,1681,1681,4094,0,0,0,0,0,0,26.24,25.16,24.60,10.19,53.97
$STATE,1256,end climb,SURFACE_DEPTH_REACHED
$STATE,1256,begin surface coast
$FINISH,0.6,1.024225
$STATE,1264,end surface coast,CONTROL_FINISHED_OK
$STATE,1265,begin surface
$SM_CCo,1376,0.00,0.000,0,0,1679,692.03
$SM_GC,0.81,28.77,1.55,0.00,0.018,0.031,0.000,240,1962,1679,-6.55,2.00,692.03,0,0,0,0,0,0,26.17,26.06,26.20
$IRIDIUM_FIX,5955.74,-17228.01,060917,085153
$TT8_MAMPS,0.025466,0.26215
$HUMID,53.11
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.74,69.620
$10V_AH,10.04,63.194
$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,48.025,17.300,74.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,452.288,60.427,132.170,661.400,140.825,0.000,355.202,0.000,385.321,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,57.375,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.278,432.021,341.969,506.947,660.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,14256,159
$CAP_FILE_SIZE,29293,0
$CFSIZE,1024409600,902692864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,111154,5954.795,-17209.051,8,0.8,17,7.8,0.7,318.3,11,4.9