version: 66.13
glider: 401
mission: 22
dive: 2384
start: 9 6 117 14 4 11
data:
$ID,401
$MISSION,22
$DIVE,2384
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,060917,134337,5954.1025,-17208.9980,6,0.8,19,7.8,0.5,284.3,10,4.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-1.9
$GPS2,060917,134337,5954.1025,-17208.9980,6,0.8,19,7.8,0.5,284.3,10,4.2
$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,101.7,41532,-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,-487.5,2382,1942,2377,4092,0.0,0.0,0,30,6.32,0.00,-6.65,0.000,20486,0.021,0.000,1759,1942,3056,3056,4094,0,0,0,0,0,0,26.25,24.31,26.29,10.35,53.15
$GC,37,-1.80,-487.5,1759,1942,3056,4094,-0.1,0.5,2,46,0.00,1.05,0.00,0.000,516,0.000,0.055,1759,1531,3056,3056,4095,0,0,0,0,0,0,26.41,25.95,26.43,10.50,54.05
$GC,157,-1.80,-487.5,1759,1531,3060,4095,16.9,-18.0,19,167,0.00,0.98,0.00,0.000,1030,0.000,0.027,1759,1948,3060,3060,4094,0,0,0,0,0,0,26.24,26.18,26.25,10.50,52.91
$GC,208,-1.80,-487.5,1758,1948,3061,4094,25.3,-17.3,25,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1947,3062,3062,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.51,53.07
$GC,258,-1.80,-487.5,1758,1948,3063,4094,32.6,-13.1,31,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1948,3063,3063,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.45,52.52
$GC,308,-1.80,-487.5,1758,1948,3064,4095,39.2,-13.2,37,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3064,3064,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.42,51.53
$GC,358,-1.80,-487.5,1758,1949,3065,4095,45.9,-13.6,43,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3066,3066,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.40,49.60
$GC,408,-1.80,-487.5,1758,1949,3066,4095,53.0,-13.6,49,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3067,3067,4095,0,0,0,0,0,0,26.63,26.64,26.63,10.40,48.77
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,438,-0.45,0.0,1759,2146,3067,4095,56.6,-14.6,51,481,4.60,0.00,28.45,1.274,10244,0.054,0.000,2184,2146,2486,2486,4094,0,0,0,0,0,0,26.13,24.91,24.10,10.39,48.62
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,488,1.80,487.5,2184,2147,2486,4094,61.0,0.0,56,532,7.62,0.00,28.30,1.249,11270,0.030,0.000,2902,2147,1916,1916,4094,0,0,0,0,0,0,25.70,25.90,23.70,10.26,47.51
$GC,574,1.80,487.5,2901,2146,1914,4094,54.5,13.3,66,583,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1722,1914,1914,4094,0,0,0,0,0,0,25.69,25.30,25.70,10.13,46.77
$GC,755,1.80,487.5,2901,1722,1908,4094,30.7,13.2,92,765,0.00,0.98,0.00,0.000,1030,0.000,0.029,2902,2122,1908,1908,4094,0,0,0,0,0,0,25.90,25.86,25.92,10.11,47.71
$GC,806,1.80,487.5,2901,2121,1907,4094,24.5,11.1,98,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2121,1907,1907,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.15,48.03
$GC,856,1.89,543.8,2901,2121,1906,4094,19.4,9.9,104,866,0.17,0.00,4.45,0.508,10246,0.050,0.000,2930,2122,1849,1849,4094,0,0,0,0,0,0,26.12,25.35,24.31,10.18,50.43
$GC,907,1.89,543.8,2929,2121,1848,4094,13.8,11.5,110,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2122,1847,1847,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,51.69
$GC,957,1.89,543.8,2929,2121,1846,4094,7.7,12.3,116,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2121,1846,1846,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.20,52.40
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1001,begin subsurface finish
$FINISH1,1.7,1.024217,96
$GC,1015,0.14,96.3,2930,2121,1844,4094,1.7,11.4,122,1034,5.78,0.00,-4.93,0.000,20486,0.045,0.000,2394,2122,2377,2377,4095,0,0,0,0,0,0,25.96,25.45,26.07,10.21,52.87
$FINISH2,0.0
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,122745
$TT8_MAMPS,0.024717,0.238931
$HUMID,54.01
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.70,69.849
$10V_AH,10.03,63.374
$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,24.500,5.050,61.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,355.797,0.000,108.712,518.874,113.933,0.000,319.892,0.000,303.946,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,55.080,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.464,336.905,266.647,395.347,516.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10789,124
$CAP_FILE_SIZE,21923,0
$CFSIZE,1024409600,902299648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,134337,5954.103,-17208.998,6,0.8,19,7.8,0.5,284.3,10,4.2