version: 66.13
glider: 401
mission: 22
dive: 2386
start: 9 6 117 14 53 23
data:
$ID,401
$MISSION,22
$DIVE,2386
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,060917,144246,5954.0732,-17208.4082,5,0.9,18,7.8,0.0,220.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-41.1
$GPS2,060917,145244,5954.0923,-17208.4766,5,0.9,19,7.8,0.5,299.3,9,4.9
$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,101.9,41068,-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,-487.5,238,1952,1902,4092,0.0,0.0,0,21,7.55,0.00,0.00,0.000,2049,0.100,0.000,863,1946,1902,1902,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,52.52
$GC,27,-1.80,-487.5,862,1951,1902,4094,0.7,0.0,1,55,9.55,1.20,-11.12,0.000,18948,0.041,1.232,1756,1520,3055,3055,4095,0,0,0,0,0,0,25.95,23.89,25.98,10.28,52.83
$GC,204,-1.80,-487.5,1755,1520,3060,4095,24.9,-19.4,25,213,0.00,1.02,0.00,0.000,1030,0.000,0.028,1756,1948,3060,3060,4094,0,0,0,0,0,0,26.10,26.08,26.15,10.53,51.77
$GC,253,-1.80,-487.5,1756,1948,3062,4094,32.5,-13.3,31,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3062,3062,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.47,51.18
$GC,302,-1.80,-487.5,1756,1947,3062,4094,39.2,-13.9,37,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3062,3062,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.44,49.64
$GC,351,-1.80,-487.5,1755,1948,3064,4095,46.1,-14.2,43,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.42,48.42
$GC,399,-1.80,-487.5,1755,1947,3066,4095,53.1,-14.5,49,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,47.32
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,429,-0.45,0.0,1756,2146,3066,4094,56.8,-15.6,51,472,4.65,0.00,28.48,1.277,10244,0.054,0.000,2186,2146,2484,2484,4095,0,0,0,0,0,0,26.06,24.81,24.01,10.40,47.16
$STATE,473,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,479,1.80,487.5,2186,2146,2484,4095,61.3,0.0,56,523,7.60,0.00,28.12,1.253,11270,0.029,0.000,2901,2146,1915,1915,4094,0,0,0,0,0,0,25.64,25.84,23.64,10.28,46.41
$GC,564,1.80,487.5,2901,2146,1914,4094,54.6,12.5,66,573,0.00,1.17,0.00,0.000,516,0.000,0.044,2901,1711,1913,1913,4094,0,0,0,0,0,0,25.66,25.28,25.67,10.15,45.31
$GC,712,1.80,487.5,2901,1711,1909,4094,35.6,13.0,87,722,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2129,1909,1909,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.12,47.16
$GC,763,1.80,487.5,2901,2129,1907,4094,28.7,13.5,93,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1907,1907,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,46.57
$GC,813,1.82,497.0,2901,2129,1906,4094,23.0,10.6,99,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1906,1906,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,49.17
$GC,863,1.82,497.0,2901,2129,1905,4094,17.5,11.0,105,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1905,1905,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.20,50.70
$GC,913,1.82,497.0,2901,2129,1903,4094,11.9,11.4,111,923,0.00,1.10,0.00,0.000,516,0.000,0.047,2901,1712,1903,1903,4095,0,0,0,0,0,0,26.38,25.90,26.39,10.22,51.89
$GC,1002,1.82,498.3,2901,1711,1901,4095,2.5,10.8,123,1011,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2128,1901,1901,4094,0,0,0,0,0,0,26.14,26.09,26.17,10.23,52.63
$STATE,1019,end climb,FINISH_DEPTH_REACHED
$STATE,1019,begin subsurface finish
$FINISH1,-0.1,1.019413,433
$GC,1033,0.65,433.2,2901,2135,1900,4094,-0.1,11.0,125,1043,3.58,0.00,-0.73,0.000,20486,0.020,0.000,2549,2136,1983,1983,4094,0,0,0,0,0,0,26.19,24.41,26.25,10.23,52.44
$FINISH2,0.1
$STATE,1044,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1044,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,060917,133639
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.28
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.64,69.907
$10V_AH,10.01,63.421
$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,32.925,7.000,56.600,0.000,0.000,24.349,18.016,255.319,0.000,0.000,20.939,362.702,0.000,109.704,780.769,392.449,0.000,326.796,0.000,311.491,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1232.415,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.849,342.347,270.901,401.833,523.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329356
$DATA_FILE_SIZE,10875,126
$CAP_FILE_SIZE,26794,0
$CFSIZE,1024409600,902201344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060917,145244,5954.092,-17208.477,5,0.9,19,7.8,0.5,299.3,9,4.9