version: 66.13
glider: 401
mission: 22
dive: 1085
start: 8 15 117 8 24 11
data:
$ID,401
$MISSION,22
$DIVE,1085
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,44
$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
$GPS1,150817,080155,6146.1250,-17355.1270,7,0.7,23,7.0,0.5,347.5,11,4.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.8
$GPS2,150817,080155,6146.1250,-17355.1270,7,0.7,23,7.0,0.5,347.5,11,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.330140,0.216776
$KALMAN_X,60591.765625,-526.900940,-192.838394,-258356.296875,-14.135788
$KALMAN_Y,-74347.921875,2981.519531,976.989258,349695.937500,51.837402
$MHEAD_RNG_PITCHd_Wd,296.3,30272,-11.5,-10.526,-14.92,6967
$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,5,begin dive
$GC,9,-1.78,-487.5,2396,1958,2348,4092,0.0,0.0,0,18,6.40,0.00,-0.47,0.000,20482,0.022,0.000,1772,1958,2398,2398,4094,0,0,0,0,0,0,26.10,28.83,26.14,10.31,51.69
$GC,22,-1.78,-487.5,1772,1958,2398,4094,0.1,0.0,1,35,0.00,1.12,-6.15,0.000,16900,0.000,1.272,1771,1526,3053,3053,4095,0,0,0,0,0,0,26.31,24.70,26.32,10.33,51.73
$GC,62,-1.78,-487.5,1771,1526,3053,4095,0.8,-1.8,7,69,0.00,0.98,0.00,0.000,1030,0.000,0.027,1771,1947,3053,3053,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.47,52.36
$GC,101,-1.78,-487.5,1771,1947,3054,4095,6.6,-16.1,13,107,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3055,3055,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.48,51.81
$GC,140,-1.78,-487.5,1771,1947,3055,4095,13.6,-18.2,19,146,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3056,3056,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.47,51.33
$GC,178,-1.78,-487.5,1771,1947,3058,4095,21.0,-19.8,25,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3057,3057,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.47,51.37
$GC,217,-1.78,-487.5,1771,1947,3058,4095,27.5,-14.8,31,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1947,3058,3058,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.45,51.10
$GC,255,-1.78,-487.5,1771,1947,3059,4095,32.4,-13.1,37,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1948,3060,3060,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.40,50.78
$GC,294,-1.78,-487.5,1771,1948,3060,4095,37.1,-12.2,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1948,3060,3060,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.38,49.21
$GC,333,-1.78,-487.5,1771,1948,3061,4095,42.0,-12.5,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1948,3061,3061,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.38,48.22
$GC,371,-1.78,-487.5,1771,1948,3062,4095,47.1,-13.0,55,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1948,3062,3062,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.37,47.55
$GC,409,-1.78,-487.5,1771,1948,3063,4095,52.0,-13.2,61,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1948,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.36,47.00
$GC,448,-1.78,-487.5,1771,1948,3064,4095,57.1,-13.1,67,455,0.00,1.10,0.00,0.000,260,0.000,0.045,1771,2368,3064,3064,4094,0,0,0,0,0,0,26.51,26.20,26.51,10.34,46.73
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,480,-0.45,0.0,1771,2116,3064,4094,60.8,-13.6,71,516,4.45,0.00,28.10,1.310,10244,0.054,0.000,2185,2114,2484,2484,4095,0,0,0,0,0,0,26.21,25.32,24.28,10.34,46.65
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,521,1.78,487.5,2184,2114,2484,4095,63.7,0.0,77,563,7.47,1.20,28.02,1.285,10500,0.031,0.050,2891,2554,1916,1916,4095,0,0,0,0,0,0,25.52,25.46,23.85,10.21,46.22
$GC,614,1.78,487.5,2890,2554,1914,4095,55.3,12.8,92,621,0.00,0.98,0.00,0.000,1030,0.000,0.025,2891,2161,1914,1914,4094,0,0,0,0,0,0,25.46,25.44,25.47,10.08,45.47
$GC,653,1.78,487.5,2890,2160,1913,4094,50.2,13.3,98,660,0.00,1.15,0.00,0.000,516,0.000,0.046,2891,1721,1913,1913,4095,0,0,0,0,0,0,25.78,25.50,25.79,10.07,45.66
$GC,729,1.78,487.5,2890,1720,1911,4095,40.3,13.0,110,735,0.00,0.90,0.00,0.000,1030,0.000,0.029,2891,2091,1911,1911,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.06,45.82
$GC,768,1.78,487.5,2890,2091,1910,4094,35.3,12.5,116,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2091,1910,1910,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.06,46.49
$GC,807,1.78,487.5,2890,2091,1909,4094,30.6,11.7,122,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2091,1909,1909,4095,0,0,0,0,0,0,26.09,26.10,26.10,10.06,46.29
$GC,845,1.78,487.5,2890,2091,1907,4095,26.5,10.6,128,852,0.00,0.98,0.00,0.000,516,0.000,0.046,2891,1722,1907,1907,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.06,47.28
$GC,957,1.90,567.4,2890,1722,1906,4094,16.4,9.4,146,970,0.32,0.93,5.50,0.575,11270,0.038,0.028,2930,2106,1823,1823,4094,0,0,0,0,0,0,26.03,26.02,24.98,10.15,50.63
$GC,1003,1.92,586.0,2929,2106,1821,4094,11.7,10.3,153,1010,0.00,0.00,2.85,0.270,8198,0.000,0.000,2930,2106,1799,1799,4094,0,0,0,0,0,0,26.23,25.79,25.03,10.15,51.57
$GC,1043,2.00,637.6,2929,2106,1798,4094,7.6,9.8,159,1057,0.28,1.02,4.35,0.438,10756,0.041,0.047,2968,1712,1739,1739,4094,0,0,0,0,0,0,26.06,25.84,25.08,10.15,51.85
$STATE,1099,end climb,FINISH_DEPTH_REACHED
$STATE,1099,begin subsurface finish
$FINISH1,1.3,1.023883,120
$GC,1108,0.18,119.7,2968,2140,1736,4094,1.3,11.0,168,1128,5.88,1.15,-5.43,0.000,20996,0.024,1.271,2399,1722,2351,2351,4094,0,0,0,0,0,0,26.06,24.67,26.08,10.14,52.48
$FINISH2,0.2
$STATE,1129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,063944
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.34
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.85,30.195
$10V_AH,10.39,32.454
$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,24.800,13.700,68.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.222,257.890,164.156,249.187,74.833,33.432,354.439,0.000,257.003,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1272.195,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,10913,171
$CAP_FILE_SIZE,32048,0
$CFSIZE,1024409600,966180864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,080155,6146.125,-17355.127,7,0.7,23,7.0,0.5,347.5,11,4.6