version: 66.13
glider: 401
mission: 22
dive: 2096
start: 9 1 117 16 0 16
data:
$ID,401
$MISSION,22
$DIVE,2096
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,010917,153936,6006.0757,-17318.1133,10,1.2,55,7.2,0.0,353.3,8,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.2
$GPS2,010917,153936,6006.0757,-17318.1133,10,1.2,55,7.2,0.0,353.3,8,3.0
$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,102.0,109672,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.82,-585.0,2385,1945,2375,4092,0.0,0.0,0,30,6.40,0.00,-7.70,0.000,20486,0.022,0.000,1758,1945,3171,3171,4095,0,0,0,0,0,0,26.20,24.31,26.24,10.33,52.91
$GC,36,-1.82,-585.0,1757,1944,3171,4095,0.1,-1.5,2,45,0.00,1.15,0.00,0.000,260,0.000,0.042,1758,2375,3171,3171,4095,0,0,0,0,0,0,26.40,26.01,26.41,10.51,53.50
$GC,91,-1.82,-585.0,1757,2374,3173,4095,8.6,-18.2,9,100,0.00,1.08,0.00,0.000,1030,0.000,0.030,1758,1945,3173,3173,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.51,53.38
$GC,141,-1.82,-585.0,1757,1945,3175,4094,17.9,-19.4,15,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3175,3175,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.51,53.11
$GC,189,-1.82,-585.0,1757,1945,3176,4095,26.3,-16.2,21,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3177,3177,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.46,52.28
$GC,238,-1.82,-585.0,1757,1945,3177,4095,33.3,-14.0,27,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1945,3177,3177,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.44,51.49
$GC,288,-1.82,-585.0,1757,1945,3179,4095,40.3,-14.1,33,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3179,3179,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.43,50.15
$GC,337,-1.82,-585.0,1757,1945,3180,4095,47.0,-13.8,39,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3180,3180,4095,0,0,0,0,0,0,26.58,26.58,26.58,10.42,50.19
$GC,387,-1.82,-585.0,1757,1945,3181,4095,53.9,-14.2,45,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3181,3181,4094,0,0,0,0,0,0,26.59,26.61,26.60,10.41,48.77
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,435,-0.45,0.0,1757,2144,3183,4095,60.0,-13.9,50,479,4.60,0.00,33.67,1.320,10244,0.053,0.000,2184,2144,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,24.08,10.40,48.89
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,486,1.82,585.0,2185,2144,2483,4094,63.9,0.0,55,531,7.68,0.00,33.35,1.287,11270,0.029,0.000,2903,2144,1802,1802,4094,0,0,0,0,0,0,25.53,25.70,23.66,10.25,48.50
$GC,571,1.82,585.0,2902,2144,1801,4094,57.0,12.8,65,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1801,1801,4094,0,0,0,0,0,0,25.49,25.51,25.51,10.10,46.92
$GC,621,1.82,585.0,2902,2143,1799,4094,50.5,12.9,71,630,0.00,1.15,0.00,0.000,516,0.000,0.043,2903,1714,1800,1800,4094,0,0,0,0,0,0,25.74,25.36,25.75,10.09,47.48
$GC,709,1.82,585.0,2902,1714,1797,4094,38.6,13.5,83,718,0.00,1.02,0.00,0.000,1030,0.000,0.031,2903,2126,1796,1796,4094,0,0,0,0,0,0,25.71,25.65,25.78,10.09,47.87
$GC,757,1.82,585.0,2902,2126,1795,4094,32.4,12.7,89,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1795,1795,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.08,47.79
$GC,805,1.82,585.0,2902,2126,1794,4094,26.2,12.6,95,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2126,1794,1794,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.08,48.11
$GC,853,1.82,585.0,2903,2126,1793,4094,20.5,11.2,101,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.12,48.70
$GC,901,1.89,635.7,2902,2126,1791,4094,15.6,9.9,107,912,0.17,0.00,4.05,0.452,10246,0.050,0.000,2930,2127,1741,1741,4094,0,0,0,0,0,0,26.07,25.59,24.49,10.15,50.19
$GC,952,1.89,635.7,2929,2126,1740,4094,10.2,11.3,113,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2127,1739,1739,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.15,51.33
$GC,1001,1.89,635.7,2929,2126,1738,4094,4.4,11.8,119,1011,0.00,1.10,0.00,0.000,516,0.000,0.045,2930,1709,1738,1738,4094,0,0,0,0,0,0,26.35,25.93,26.36,10.17,52.20
$STATE,1019,end climb,FINISH_DEPTH_REACHED
$STATE,1019,begin subsurface finish
$FINISH1,1.6,1.024186,99
$GC,1033,0.15,98.6,2930,2141,1737,4093,1.6,11.8,121,1051,5.55,0.00,-5.88,0.000,20998,0.022,0.000,2389,2142,2374,2374,4095,0,0,0,0,0,0,26.09,25.40,26.14,10.17,53.11
$FINISH2,0.1
$STATE,1052,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1052,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,141912
$TT8_MAMPS,0.025466,0.251664
$HUMID,53.03
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.66,61.216
$10V_AH,10.09,56.602
$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,24.400,7.600,71.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,354.528,0.000,125.023,515.381,120.124,0.000,355.748,0.000,303.703,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,45.135,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.949,334.153,264.496,392.232,512.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,10819,123
$CAP_FILE_SIZE,24804,0
$CFSIZE,1024409600,916488192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,153936,6006.076,-17318.113,10,1.2,55,7.2,0.0,353.3,8,3.0