version: 66.13
glider: 401
mission: 22
dive: 1089
start: 8 15 117 9 57 2
data:
$ID,401
$MISSION,22
$DIVE,1089
$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,51
$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,0.09
$_SM_ANGLEo,-1.8
$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,-0.364570,0.139611
$KALMAN_X,61498.230469,-598.442749,-262.383087,-259769.406250,148.579742
$KALMAN_Y,-73884.828125,3076.719238,1044.580688,350527.468750,34.842163
$MHEAD_RNG_PITCHd_Wd,284.0,28889,-11.7,-10.526,-15.09,6775
$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,4,begin dive
$GC,8,-1.78,-475.0,2406,1987,2331,4092,0.0,0.0,0,17,6.47,0.00,0.00,0.000,4097,0.024,0.000,1781,1987,2331,2331,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.29,52.52
$GC,20,-1.78,-475.0,1780,1987,2331,4094,0.1,0.0,1,32,0.00,0.00,-6.75,0.000,16390,0.000,0.000,1781,1987,3042,3042,4095,0,0,0,0,0,0,26.29,25.51,26.30,10.30,52.75
$GC,65,-1.78,-475.0,1780,1987,3043,4095,2.9,-11.0,8,72,0.00,0.98,0.00,0.000,260,0.000,0.047,1780,2352,3043,3043,4095,0,0,0,0,0,0,26.25,25.96,26.27,10.45,52.67
$GC,128,-1.78,-475.0,1779,2351,3044,4095,13.4,-17.2,18,135,0.00,0.98,0.00,0.000,1030,0.000,0.029,1780,1966,3044,3044,4095,0,0,0,0,0,0,26.10,26.07,26.12,10.46,52.87
$GC,168,-1.78,-475.0,1779,1966,3046,4095,20.3,-17.3,24,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1966,3046,3046,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.46,53.11
$GC,206,-1.78,-475.0,1780,1966,3047,4095,26.5,-15.1,30,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1967,3046,3046,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.44,52.32
$GC,245,-1.78,-475.0,1780,1966,3048,4095,31.0,-11.8,36,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1966,3048,3048,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.39,51.73
$GC,284,-1.78,-475.0,1780,1966,3048,4094,35.5,-11.4,42,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1967,3049,3049,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.38,50.70
$GC,322,-1.78,-475.0,1779,1966,3049,4094,40.0,-11.8,48,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1967,3050,3050,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.37,50.07
$GC,360,-1.78,-475.0,1779,1966,3050,4095,44.5,-11.7,54,367,0.00,1.15,0.00,0.000,516,0.000,0.050,1780,1514,3051,3051,4095,0,0,0,0,0,0,26.46,26.15,26.47,10.35,48.62
$GC,400,-1.78,-475.0,1780,1513,3051,4095,49.5,-13.2,60,406,0.00,0.98,0.00,0.000,1030,0.000,0.028,1780,1930,3052,3052,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.35,47.99
$GC,439,-1.78,-475.0,1780,1930,3051,4095,54.4,-12.1,66,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1931,3052,3052,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.33,47.87
$GC,478,-1.78,-475.0,1779,1930,3053,4094,59.3,-12.8,72,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1931,3053,3053,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.33,48.34
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,496,-0.45,0.0,1780,2141,3053,4095,61.1,-13.2,74,532,4.38,0.00,27.48,1.320,10244,0.055,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.21,25.34,24.28,10.33,47.48
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,537,1.78,475.0,2185,2141,2484,4094,63.9,0.0,80,579,7.50,0.00,27.30,1.289,11270,0.032,0.000,2890,2141,1930,1930,4094,0,0,0,0,0,0,25.60,25.75,23.87,10.20,46.85
$GC,611,1.78,475.0,2890,2141,1929,4094,58.4,11.2,92,618,0.00,1.15,0.00,0.000,260,0.000,0.053,2890,2557,1929,1929,4094,0,0,0,0,0,0,25.56,25.28,25.58,10.08,45.98
$GC,657,1.78,475.0,2890,2557,1928,4094,52.5,13.4,99,663,0.00,1.10,0.00,0.000,1030,0.000,0.026,2890,2120,1928,1928,4094,0,0,0,0,0,0,25.55,25.53,25.58,10.07,45.90
$GC,696,1.78,475.0,2889,2121,1927,4094,47.5,13.0,105,703,0.00,1.05,0.00,0.000,516,0.000,0.047,2890,1720,1926,1926,4094,0,0,0,0,0,0,25.86,25.58,25.87,10.06,46.53
$GC,759,1.78,475.0,2890,1719,1925,4094,38.9,13.5,115,766,0.00,0.95,0.00,0.000,1030,0.000,0.029,2890,2107,1925,1925,4094,0,0,0,0,0,0,25.79,25.75,25.80,10.06,47.08
$GC,799,1.78,475.0,2890,2106,1924,4094,33.7,12.8,121,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2107,1924,1924,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.05,46.77
$GC,837,1.78,475.0,2889,2106,1923,4094,28.7,12.9,127,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2107,1922,1922,4094,0,0,0,0,0,0,26.10,26.13,26.12,10.05,46.96
$GC,876,1.78,475.0,2890,2106,1922,4094,24.1,11.7,133,883,0.00,1.00,0.00,0.000,516,0.000,0.046,2890,1724,1921,1921,4095,0,0,0,0,0,0,26.16,25.86,26.17,10.05,47.87
$GC,946,1.93,580.6,2890,1723,1920,4095,17.7,8.9,144,959,0.47,0.93,6.80,0.654,11270,0.033,0.029,2941,2106,1806,1806,4094,0,0,0,0,0,0,26.01,25.98,24.90,10.12,50.07
$GC,992,1.93,580.6,2941,2106,1805,4094,12.9,11.0,151,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2106,1805,1805,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.12,51.73
$GC,1031,1.93,580.6,2941,2105,1803,4095,8.4,11.7,157,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2106,1803,1803,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.13,52.12
$GC,1069,1.93,580.6,2941,2106,1803,4094,4.1,11.2,163,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2106,1803,1803,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.14,52.55
$STATE,1086,end climb,SURFACE_DEPTH_REACHED
$STATE,1086,begin surface coast
$FINISH,0.3,1.023890
$STATE,1100,end surface coast,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$SM_CCo,1201,0.00,0.000,0,0,1801,587.28
$SM_GC,1.06,28.17,0.40,0.00,0.019,0.052,0.000,239,1956,1801,-6.55,1.46,587.28,0,0,0,0,0,0,26.08,26.03,26.13
$IRIDIUM_FIX,6149.06,-17422.35,150817,075704
$TT8_MAMPS,0.025466,0.110852
$HUMID,53.70
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.87,30.299
$10V_AH,10.39,32.547
$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,47.000,11.725,61.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.953,311.386,182.051,245.200,84.782,33.420,372.129,0.000,252.745,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,52.785,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330800
$DATA_FILE_SIZE,10753,168
$CAP_FILE_SIZE,33497,0
$CFSIZE,1024409600,965967872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,101831,6147.639,-17356.412,5,1.0,50,7.0,0.4,58.6,8,3.0