version: 66.13
glider: 401
mission: 22
dive: 1087
start: 8 15 117 9 15 17
data:
$ID,401
$MISSION,22
$DIVE,1087
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,150817,090625,6146.9185,-17355.8594,6,0.8,51,7.0,0.0,18.2,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-41.8
$GPS2,150817,091408,6146.9126,-17355.8125,6,0.8,14,7.0,0.0,0.0,10,4.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348191,0.187089
$KALMAN_X,60893.847656,-631.330750,-298.413818,-259083.359375,12.271942
$KALMAN_Y,-73689.960938,3111.772949,1101.183960,350216.875000,66.446045
$MHEAD_RNG_PITCHd_Wd,291.2,28889,-11.5,-10.526,-14.91,6980
$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,-487.5,229,1948,1843,4092,0.0,0.0,0,17,6.28,0.00,0.00,0.000,2049,0.100,0.000,755,1949,1843,1843,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.23,51.18
$GC,20,-1.78,-487.5,755,1948,1843,4094,0.8,0.0,1,45,11.00,0.00,-11.40,0.000,18694,0.054,0.000,1764,1949,3056,3056,4094,0,0,0,0,0,0,25.94,24.88,26.01,10.24,50.90
$GC,78,-1.78,-487.5,1764,1948,3057,4094,2.6,-10.6,10,84,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1949,3057,3057,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.50,51.37
$GC,117,-1.78,-487.5,1763,1948,3058,4094,8.9,-17.0,16,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1948,3058,3058,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.50,50.78
$GC,155,-1.78,-487.5,1763,1948,3059,4094,15.9,-18.6,22,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1949,3060,3060,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.50,50.27
$GC,193,-1.78,-487.5,1763,1948,3060,4094,23.0,-18.2,28,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1949,3061,3061,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.51,50.47
$GC,232,-1.78,-487.5,1763,1949,3062,4094,28.5,-13.2,34,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1948,3062,3062,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.45,49.84
$GC,271,-1.78,-487.5,1763,1948,3063,4095,33.3,-12.4,40,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1949,3063,3063,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.42,48.77
$GC,309,-1.78,-487.5,1763,1948,3063,4095,38.1,-12.8,46,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1948,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.40,47.71
$GC,347,-1.78,-487.5,1763,1948,3064,4095,43.0,-12.7,52,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1949,3064,3064,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.38,47.36
$GC,386,-1.78,-487.5,1763,1948,3066,4094,48.2,-14.0,58,393,0.00,1.12,0.00,0.000,260,0.000,0.044,1764,2371,3066,3066,4094,0,0,0,0,0,0,26.48,26.18,26.49,10.38,46.81
$GC,437,-1.78,-487.5,1763,2370,3066,4094,55.1,-13.3,66,444,0.00,1.05,0.00,0.000,1030,0.000,0.028,1764,1950,3067,3067,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.37,46.77
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,482,-0.45,0.0,1764,2144,3068,4094,60.4,-13.4,72,518,4.53,0.00,28.23,1.310,10244,0.054,0.000,2184,2144,2484,2484,4094,0,0,0,0,0,0,26.22,25.32,24.26,10.37,46.02
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,522,1.78,487.5,2184,2144,2484,4094,63.4,0.0,78,564,7.43,1.10,27.95,1.283,10500,0.030,0.051,2890,2555,1916,1916,4094,0,0,0,0,0,0,25.52,25.46,23.85,10.23,45.43
$GC,624,1.78,487.5,2890,2555,1914,4094,54.1,13.0,94,630,0.00,1.08,0.00,0.000,1030,0.000,0.025,2890,2127,1914,1914,4094,0,0,0,0,0,0,25.48,25.47,25.51,10.10,44.84
$GC,663,1.78,487.5,2890,2127,1913,4094,48.7,12.7,100,670,0.00,1.05,0.00,0.000,516,0.000,0.044,2890,1723,1913,1913,4094,0,0,0,0,0,0,25.81,25.53,25.82,10.09,44.84
$GC,726,1.78,487.5,2890,1723,1911,4094,40.5,12.9,110,733,0.00,0.95,0.00,0.000,1030,0.000,0.028,2890,2111,1911,1911,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.08,45.27
$GC,766,1.78,487.5,2890,2111,1910,4094,35.4,12.8,116,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2111,1910,1910,4095,0,0,0,0,0,0,26.03,26.04,26.04,10.08,45.82
$GC,804,1.78,487.5,2890,2111,1908,4095,30.5,12.6,122,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2111,1909,1909,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.07,45.78
$GC,843,1.78,487.5,2890,2111,1907,4094,25.9,12.1,128,850,0.00,1.02,0.00,0.000,516,0.000,0.045,2890,1722,1907,1907,4094,0,0,0,0,0,0,26.14,25.85,26.15,10.07,46.37
$GC,961,1.91,575.3,2890,1722,1905,4094,14.7,9.2,147,974,0.38,0.95,5.88,0.582,11270,0.036,0.029,2933,2113,1811,1811,4095,0,0,0,0,0,0,26.05,26.02,24.98,10.16,51.45
$GC,1007,1.92,584.8,2933,2113,1810,4095,10.0,10.4,154,1014,0.00,0.00,2.33,0.137,8198,0.000,0.000,2933,2114,1801,1801,4093,0,0,0,0,0,0,26.23,25.79,25.03,10.15,51.49
$GC,1047,1.95,607.1,2933,2113,1800,4093,5.8,10.2,160,1055,0.10,0.00,2.92,0.263,10246,0.075,0.000,2951,2114,1774,1774,4094,0,0,0,0,0,0,26.06,25.82,25.10,10.16,51.65
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,2.0,1.023888,119
$GC,1087,0.18,119.4,2950,2113,1773,4094,2.0,11.4,165,1106,5.97,1.08,-4.95,0.000,20996,0.057,1.279,2397,1721,2352,2352,4094,0,0,0,0,0,0,26.08,24.68,26.09,10.17,52.04
$FINISH2,0.5
$STATE,1107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,075704
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.67
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.85,30.255
$10V_AH,10.30,32.503
$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,35.675,9.875,67.300,0.000,0.000,23.723,20.633,242.564,0.000,0.000,15.795,439.957,252.263,164.477,520.117,209.986,33.454,357.032,0.000,254.438,0.000,0.542,0.000
$DEVICE_MAMPS,100.215,1279.080,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,10839,168
$CAP_FILE_SIZE,35077,0
$CFSIZE,1024409600,966066176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,091408,6146.913,-17355.812,6,0.8,14,7.0,0.0,0.0,10,4.5