version: 66.13
glider: 401
mission: 22
dive: 2392
start: 9 6 117 17 14 59
data:
$ID,401
$MISSION,22
$DIVE,2392
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,060917,170216,5954.1685,-17206.1562,5,0.8,13,7.8,0.0,0.0,10,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-38.0
$GPS2,060917,171419,5954.1851,-17206.1211,5,0.8,16,7.8,0.0,57.7,10,5.0
$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,103.2,39069,-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,-487.5,237,1936,1860,4092,0.0,0.0,0,22,8.52,0.00,0.00,0.000,2049,0.090,0.000,958,1935,1860,1860,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.27,52.52
$GC,28,-1.80,-487.5,957,1935,1860,4094,0.5,0.0,1,55,8.55,1.12,-11.60,0.000,18948,0.041,1.232,1755,1524,3053,3053,4094,0,0,0,0,0,0,25.90,23.86,25.94,10.27,51.81
$GC,224,-1.80,-487.5,1754,1523,3057,4094,17.9,-18.5,28,233,0.00,1.02,0.00,0.000,1030,0.000,0.028,1755,1952,3058,3058,4094,0,0,0,0,0,0,26.13,26.08,26.14,10.53,51.33
$GC,273,-1.80,-487.5,1754,1952,3059,4094,26.6,-17.2,34,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1953,3059,3059,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.51,51.14
$GC,322,-1.80,-487.5,1755,1953,3060,4095,33.2,-13.0,40,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1953,3060,3060,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.46,50.55
$GC,369,-1.80,-487.5,1754,1953,3061,4094,39.5,-13.8,46,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1953,3062,3062,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.43,48.97
$GC,418,-1.80,-487.5,1755,1953,3062,4095,46.7,-14.1,52,426,0.00,1.10,0.00,0.000,260,0.000,0.047,1755,2372,3063,3063,4094,0,0,0,0,0,0,26.54,26.01,26.55,10.42,47.83
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,482,-0.45,0.0,1755,2114,3064,4095,55.1,-15.8,59,518,4.65,0.00,28.42,1.255,10244,0.055,0.000,2186,2113,2483,2483,4095,0,0,0,0,0,0,26.07,25.22,24.03,10.40,46.96
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,525,1.80,487.5,2185,2113,2484,4095,60.0,0.0,63,569,7.62,0.00,27.90,1.230,11270,0.030,0.000,2902,2113,1919,1919,4094,0,0,0,0,0,0,25.63,25.83,23.68,10.28,46.33
$GC,610,1.80,487.5,2901,2113,1918,4094,53.0,12.6,73,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1918,1918,4095,0,0,0,0,0,0,25.67,25.69,25.68,10.15,45.15
$GC,660,1.80,487.5,2901,2113,1916,4095,46.4,13.7,79,670,0.00,0.95,0.00,0.000,516,0.000,0.044,2902,1741,1916,1916,4094,0,0,0,0,0,0,25.89,25.49,25.89,10.14,46.29
$GC,768,1.80,487.5,2901,1741,1913,4094,31.9,13.0,94,777,0.00,0.95,0.00,0.000,1030,0.000,0.030,2902,2132,1913,1913,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.13,46.25
$GC,817,1.80,487.5,2901,2131,1911,4094,25.2,12.9,100,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1911,1911,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.13,46.61
$GC,866,1.82,501.6,2901,2131,1910,4095,19.8,10.6,106,875,0.00,0.00,2.47,0.192,8198,0.000,0.000,2902,2132,1897,1897,4094,0,0,0,0,0,0,26.29,24.74,24.06,10.18,48.81
$GC,915,1.87,530.8,2901,2132,1896,4094,14.5,10.3,112,925,0.10,0.00,3.38,0.355,10246,0.075,0.000,2923,2132,1864,1864,4094,0,0,0,0,0,0,26.12,24.91,24.28,10.20,49.92
$GC,966,1.87,530.8,2923,2131,1862,4094,8.9,11.4,118,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2132,1862,1862,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.20,51.45
$GC,1016,1.87,530.8,2923,2131,1860,4094,3.0,12.1,124,1026,0.00,1.02,0.00,0.000,516,0.000,0.045,2923,1739,1861,1861,4094,0,0,0,0,0,0,26.41,25.96,26.41,10.22,51.89
$STATE,1034,end climb,FINISH_DEPTH_REACHED
$STATE,1034,begin subsurface finish
$FINISH1,0.0,1.024224,96
$GC,1049,0.14,95.9,2923,2185,1860,4094,0.0,11.8,126,1067,5.47,0.00,-4.80,0.000,20998,0.019,0.000,2384,2183,2372,2372,4094,0,0,0,0,0,0,26.15,25.44,26.20,10.22,52.75
$FINISH2,0.0
$STATE,1068,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1068,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,060917,170656
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.79
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.68,70.072
$10V_AH,10.00,63.556
$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,34.925,7.775,62.175,0.000,0.000,55.654,48.059,274.330,0.000,0.000,17.788,369.290,44.716,114.952,866.486,399.217,0.000,336.527,0.000,315.181,0.000,0.545,0.000
$DEVICE_MAMPS,89.505,1231.650,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.126,347.801,275.227,408.232,530.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,10977,128
$CAP_FILE_SIZE,29013,0
$CFSIZE,1024409600,901906432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060917,171419,5954.185,-17206.121,5,0.8,16,7.8,0.0,57.7,10,5.0