version: 66.13
glider: 401
mission: 22
dive: 2093
start: 9 1 117 14 47 33
data:
$ID,401
$MISSION,22
$DIVE,2093
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,600
$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,31
$R_STBD_OVSHOOT,59
$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
$GPS1,010917,142550,6006.1860,-17319.3242,14,0.7,14,7.2,0.0,0.0,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.9
$GPS2,010917,142550,6006.1860,-17319.3242,14,0.7,14,7.2,0.0,0.0,10,4.3
$SPEED_LIMITS,0.226,0.425
$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,101.9,110805,-10.3,-10.526,-13.92,8308
$D_GRID,60
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.82,-585.0,2388,1994,2366,4092,0.0,0.0,0,30,6.40,0.10,-7.68,0.000,20486,0.022,1.271,1762,1952,3170,3170,4094,0,0,0,0,0,0,26.10,23.70,26.12,10.35,51.96
$GC,36,-1.82,-585.0,1762,1951,3171,4094,0.1,-1.0,3,42,0.00,1.05,0.00,0.000,260,0.000,0.042,1762,2346,3171,3171,4095,0,0,0,0,0,0,26.35,25.97,26.36,10.52,53.03
$GC,125,-1.82,-585.0,1761,2346,3173,4095,13.9,-16.8,17,132,0.00,1.00,0.00,0.000,1030,0.000,0.029,1762,1952,3173,3173,4094,0,0,0,0,0,0,26.13,26.12,26.15,10.53,52.36
$GC,166,-1.82,-585.0,1761,1952,3175,4094,20.7,-16.2,23,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3175,3175,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.53,51.85
$GC,207,-1.82,-585.0,1761,1952,3176,4095,26.6,-15.0,29,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3176,3176,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.50,51.69
$GC,248,-1.82,-585.0,1761,1952,3176,4095,31.9,-12.8,35,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3177,3177,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.47,51.18
$GC,288,-1.82,-585.0,1761,1952,3177,4095,36.8,-12.3,41,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3178,3178,4095,0,0,0,0,0,0,26.52,26.54,26.53,10.45,50.94
$GC,329,-1.82,-585.0,1761,1952,3178,4095,41.7,-12.3,47,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3178,3178,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.44,49.68
$GC,370,-1.82,-585.0,1761,1952,3180,4095,46.8,-12.4,53,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3180,3180,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.43,49.25
$GC,410,-1.82,-585.0,1761,1952,3181,4095,52.1,-13.5,59,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3180,3180,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.42,49.29
$GC,451,-1.82,-585.0,1761,1952,3181,4095,57.4,-13.0,65,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3182,3182,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.41,48.77
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,480,-0.45,0.0,1761,2115,3182,4094,60.4,-13.0,68,522,4.55,0.00,33.65,1.330,10244,0.050,0.000,2185,2115,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,24.07,10.41,48.30
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,528,1.82,585.0,2185,2114,2484,4094,63.5,0.0,75,576,7.65,0.00,33.47,1.291,11270,0.029,0.000,2902,2115,1801,1801,4094,0,0,0,0,0,0,25.50,25.67,23.67,10.26,48.07
$GC,611,1.82,585.0,2902,2115,1800,4094,56.4,12.8,88,618,0.00,1.10,0.00,0.000,516,0.000,0.044,2902,1711,1800,1800,4094,0,0,0,0,0,0,25.46,25.13,25.48,10.11,46.96
$GC,718,1.82,585.0,2902,1711,1796,4094,42.2,12.8,105,725,0.00,1.05,0.00,0.000,1030,0.000,0.030,2902,2131,1796,1796,4094,0,0,0,0,0,0,25.63,25.60,25.66,10.10,47.36
$GC,760,1.82,585.0,2902,2130,1795,4094,36.8,12.9,111,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1795,1795,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.09,47.44
$GC,801,1.82,585.0,2902,2130,1794,4094,31.4,13.1,117,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1794,1794,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.09,48.50
$GC,841,1.82,585.0,2902,2130,1793,4094,26.3,12.5,123,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.10,48.58
$GC,882,1.82,585.0,2902,2130,1791,4094,21.3,12.2,129,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1791,1791,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.11,48.93
$GC,922,1.82,585.0,2902,2130,1790,4094,17.0,10.9,135,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1790,1790,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.14,49.96
$GC,963,1.86,616.9,2902,2130,1789,4094,12.8,10.1,141,971,0.10,1.12,3.00,0.292,10756,0.074,0.045,2923,1705,1764,1764,4094,0,0,0,0,0,0,26.10,25.51,24.43,10.16,51.26
$STATE,1066,end climb,FINISH_DEPTH_REACHED
$STATE,1066,begin subsurface finish
$FINISH1,1.4,1.024190,98
$GC,1080,0.15,98.3,2923,2152,1760,4094,1.4,10.9,157,1093,5.45,0.00,-5.62,0.000,20486,0.021,0.000,2384,2153,2376,2376,4094,0,0,0,0,0,0,26.13,24.41,26.17,10.18,53.38
$FINISH2,0.1
$STATE,1094,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1094,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,130638
$TT8_MAMPS,0.025466,0.105609
$HUMID,53.74
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.67,61.122
$10V_AH,10.35,56.524
$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,24.150,7.525,70.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,409.044,242.185,152.456,231.139,123.204,0.000,328.982,0.000,239.979,0.000,0.542,0.000
$DEVICE_MAMPS,74.205,1271.430,1330.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10830,159
$CAP_FILE_SIZE,27431,0
$CFSIZE,1024409600,916635648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,142550,6006.186,-17319.324,14,0.7,14,7.2,0.0,0.0,10,4.3