version: 66.13
glider: 401
mission: 22
dive: 2390
start: 9 6 117 16 22 48
data:
$ID,401
$MISSION,22
$DIVE,2390
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,060917,160252,5954.1694,-17207.4883,5,0.7,18,7.8,0.0,248.1,11,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-2.5
$GPS2,060917,160252,5954.1694,-17207.4883,5,0.7,18,7.8,0.0,248.1,11,4.7
$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,102.5,40251,-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,-487.5,2385,1962,2376,4092,0.0,0.0,0,30,6.38,0.00,-6.68,0.000,20486,0.022,0.000,1759,1962,3057,3057,4094,0,0,0,0,0,0,26.25,24.30,26.28,10.34,53.81
$GC,36,-1.80,-487.5,1758,1962,3057,4094,0.1,-2.4,2,44,0.00,1.12,0.00,0.000,516,0.000,0.055,1759,1527,3057,3057,4095,0,0,0,0,0,0,26.44,25.95,26.45,10.49,53.46
$GC,123,-1.80,-487.5,1758,1527,3060,4095,11.0,-17.5,14,133,0.00,1.02,0.00,0.000,1030,0.000,0.029,1759,1953,3059,3059,4094,0,0,0,0,0,0,26.20,26.16,26.23,10.50,53.66
$GC,174,-1.80,-487.5,1758,1953,3061,4094,20.0,-18.0,20,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1953,3061,3061,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.50,53.62
$GC,224,-1.80,-487.5,1758,1953,3062,4094,28.5,-14.6,26,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1953,3062,3062,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.45,53.78
$GC,273,-1.80,-487.5,1758,1953,3064,4094,35.3,-13.6,32,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3065,3065,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.43,51.57
$GC,322,-1.80,-487.5,1758,1954,3065,4095,42.2,-14.7,38,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3066,3066,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.40,50.51
$GC,371,-1.80,-487.5,1758,1954,3066,4095,49.2,-14.2,44,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3067,3067,4094,0,0,0,0,0,0,26.63,26.63,26.63,10.40,50.19
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,420,-0.45,0.0,1758,2144,3068,4094,55.8,-15.3,49,456,4.60,0.00,28.50,1.265,10244,0.054,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.15,25.29,24.09,10.38,49.09
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,457,begin climb
$GC,463,1.80,487.5,2184,2144,2484,4094,60.1,0.0,53,508,7.60,1.10,28.05,1.238,10756,0.030,0.041,2903,1720,1918,1918,4094,0,0,0,0,0,0,25.58,25.53,23.72,10.26,47.91
$GC,620,1.80,487.5,2903,1720,1915,4094,45.0,13.2,73,630,0.00,1.02,0.00,0.000,1030,0.000,0.029,2903,2134,1914,1914,4094,0,0,0,0,0,0,25.68,25.65,25.70,10.12,47.79
$GC,671,1.80,487.5,2903,2133,1913,4094,37.7,13.0,79,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1912,1912,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.12,47.16
$GC,721,1.80,487.5,2903,2133,1912,4094,31.2,13.3,85,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1911,1911,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.10,47.36
$GC,771,1.80,487.5,2903,2133,1910,4094,24.4,13.5,91,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1910,1910,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.13,48.03
$GC,822,1.83,505.5,2903,2133,1909,4094,19.1,10.5,97,832,0.00,1.10,2.58,0.218,8708,0.000,0.044,2904,1718,1894,1894,4094,0,0,0,0,0,0,26.32,24.80,24.10,10.18,50.39
$GC,943,1.83,505.5,2903,1717,1891,4094,5.1,11.5,114,952,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2141,1890,1890,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.20,52.91
$STATE,967,end climb,FINISH_DEPTH_REACHED
$STATE,967,begin subsurface finish
$FINISH1,1.7,1.024219,96
$GC,981,0.14,96.2,2903,2143,1889,4094,1.7,11.7,117,999,5.30,0.00,-4.53,0.000,20486,0.024,0.000,2387,2148,2372,2372,4094,0,0,0,0,0,0,26.14,25.46,26.20,10.21,53.18
$FINISH2,-0.0
$STATE,1000,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,060917,144723
$TT8_MAMPS,0.025466,0.241178
$HUMID,53.46
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.72,70.010
$10V_AH,10.04,63.507
$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,23.875,7.250,59.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,344.481,0.409,105.002,494.534,118.643,0.000,307.114,0.000,293.113,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,55.080,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.086,323.313,255.899,379.236,492.261,0.000,0.000,0.000,0.000,0.000
$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,10899,119
$CAP_FILE_SIZE,22009,0
$CFSIZE,1024409600,902004736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,160252,5954.169,-17207.488,5,0.7,18,7.8,0.0,248.1,11,4.7