version: 66.13
glider: 401
mission: 22
dive: 1088
start: 8 15 117 9 36 0
data:
$ID,401
$MISSION,22
$DIVE,1088
$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,35
$R_STBD_OVSHOOT,52
$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
$GPS1,150817,091408,6146.9126,-17355.8125,6,0.8,14,7.0,0.0,0.0,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-5.8
$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,-0.363884,0.163076
$KALMAN_X,61112.578125,-585.262695,-251.428009,-259409.468750,27.178345
$KALMAN_Y,-73724.843750,3066.600342,1041.581909,350381.406250,95.741211
$MHEAD_RNG_PITCHd_Wd,287.1,28889,-11.3,-10.526,-14.79,7129
$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,-1.76,-487.5,2397,1981,2352,4092,0.0,0.0,0,21,6.38,0.00,-3.40,0.000,20482,0.021,0.000,1779,1981,2715,2715,4095,0,0,0,0,0,0,26.06,28.83,26.11,10.30,52.95
$GC,25,-1.76,-487.5,1779,1981,2715,4095,0.2,0.0,1,34,0.00,0.00,-3.22,0.000,16390,0.000,0.000,1779,1981,3054,3054,4094,0,0,0,0,0,0,26.29,25.54,26.29,10.38,53.38
$GC,71,-1.76,-487.5,1778,1981,3055,4094,4.0,-12.1,7,80,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1981,3055,3055,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.46,53.15
$GC,117,-1.76,-487.5,1778,1981,3056,4094,11.7,-17.3,13,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1981,3057,3057,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.47,52.55
$GC,162,-1.76,-487.5,1778,1981,3058,4094,19.8,-17.3,19,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1981,3059,3059,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.47,52.00
$GC,208,-1.76,-487.5,1778,1981,3060,4094,26.5,-12.7,25,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1982,3060,3060,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.43,51.85
$GC,253,-1.76,-487.5,1778,1981,3060,4095,31.5,-11.6,31,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1982,3060,3060,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.39,50.78
$GC,299,-1.76,-487.5,1778,1982,3061,4095,37.1,-12.5,37,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1981,3062,3062,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,50.07
$GC,344,-1.76,-487.5,1778,1981,3062,4094,42.9,-13.0,43,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1981,3062,3062,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.36,48.54
$GC,390,-1.76,-487.5,1778,1981,3064,4095,48.8,-13.0,49,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1981,3064,3064,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,47.59
$GC,436,-1.76,-487.5,1778,1981,3065,4095,54.7,-13.1,55,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1981,3065,3065,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.34,47.08
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,486,-0.45,0.0,1778,2121,3066,4094,60.5,-12.5,61,529,4.38,0.00,28.25,1.313,10246,0.054,0.000,2186,2122,2484,2484,4095,0,0,0,0,0,0,26.21,25.32,24.26,10.34,46.65
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.76,487.5,2186,2122,2484,4095,64.0,0.0,66,579,7.45,1.20,27.85,1.290,10500,0.032,0.047,2887,2556,1919,1919,4094,0,0,0,0,0,0,25.60,24.59,23.84,10.21,46.88
$GC,642,1.76,487.5,2886,2556,1917,4094,53.7,13.2,80,652,0.00,1.05,0.00,0.000,1030,0.000,0.025,2887,2136,1917,1917,4094,0,0,0,0,0,0,25.52,25.49,25.53,10.07,45.58
$GC,689,1.76,487.5,2886,2136,1916,4094,47.6,13.0,86,698,0.00,1.08,0.00,0.000,516,0.000,0.046,2887,1720,1915,1915,4095,0,0,0,0,0,0,25.85,25.56,25.86,10.07,45.47
$GC,761,1.76,487.5,2886,1720,1913,4095,37.9,13.2,96,771,0.00,0.95,0.00,0.000,1030,0.000,0.030,2887,2108,1913,1913,4094,0,0,0,0,0,0,25.79,25.76,25.81,10.06,45.78
$GC,808,1.76,487.5,2886,2107,1911,4094,31.8,13.1,102,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2107,1912,1912,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.06,46.25
$GC,856,1.76,487.5,2887,2107,1910,4094,25.9,12.7,108,869,0.00,1.00,0.00,0.000,516,0.000,0.046,2887,1721,1910,1910,4094,0,0,0,0,0,0,26.14,25.82,26.15,10.06,46.37
$GC,926,1.95,612.6,2886,1721,1909,4094,18.6,8.7,117,945,0.55,0.95,7.75,0.689,11270,0.033,0.029,2945,2113,1772,1772,4094,0,0,0,0,0,0,26.00,25.97,24.87,10.13,49.76
$GC,984,1.95,612.6,2945,2113,1771,4094,13.0,10.6,124,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2113,1770,1770,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.12,50.63
$GC,1031,1.95,612.6,2945,2113,1769,4094,7.9,10.6,130,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2113,1769,1769,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,51.29
$GC,1078,1.95,612.6,2945,2113,1768,4094,2.3,12.1,136,1087,0.00,1.02,0.00,0.000,516,0.000,0.047,2946,1726,1767,1767,4094,0,0,0,0,0,0,26.27,25.98,26.28,10.14,51.77
$STATE,1095,end climb,FINISH_DEPTH_REACHED
$STATE,1095,begin subsurface finish
$FINISH1,0.1,1.023660,135
$GC,1105,0.20,135.3,2946,2137,1767,4094,0.1,11.0,138,1124,5.55,1.15,-5.07,0.000,20996,0.023,1.278,2406,1724,2331,2331,4095,0,0,0,0,0,0,26.06,24.68,26.10,10.15,51.96
$FINISH2,0.2
$STATE,1125,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1125,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,075704
$TT8_MAMPS,0.026215,0.241927
$HUMID,52.40
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.84,30.278
$10V_AH,10.15,32.536
$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,24.300,10.325,63.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.000,0.000,134.873,584.955,78.887,33.431,388.030,0.000,341.222,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1278.315,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.269,380.378,301.062,446.387,582.639,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330800
$DATA_FILE_SIZE,14394,140
$CAP_FILE_SIZE,28331,0
$CFSIZE,1024409600,966033408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,856.53,0x236164,1,24
$GPS,150817,091408,6146.913,-17355.812,6,0.8,14,7.0,0.0,0.0,10,4.5