version: 66.13
glider: 401
mission: 22
dive: 1091
start: 8 15 117 10 49 10
data:
$ID,401
$MISSION,22
$DIVE,1091
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,150817,102731,6147.6611,-17356.3672,6,0.9,17,7.0,0.4,29.7,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.5
$GPS2,150817,102731,6147.6611,-17356.3672,6,0.9,17,7.0,0.4,29.7,9,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.365132,0.131168
$KALMAN_X,61779.398438,-619.410645,-276.694946,-260541.421875,55.627563
$KALMAN_Y,-73040.054688,3169.576904,1117.656128,350903.218750,97.490356
$MHEAD_RNG_PITCHd_Wd,282.8,27662,-11.8,-10.526,-15.18,6676
$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,-1.77,-467.9,2397,1963,2348,4092,0.0,0.0,0,18,6.43,0.00,-0.25,0.000,20482,0.024,0.000,1773,1964,2375,2375,4094,0,0,0,0,0,0,26.07,28.83,26.12,10.31,51.85
$GC,22,-1.77,-467.9,1773,1964,2374,4094,0.1,0.0,1,34,0.00,0.00,-6.18,0.000,16646,0.000,0.000,1773,1965,3034,3034,4095,0,0,0,0,0,0,26.29,25.53,26.29,10.32,52.32
$GC,67,-1.77,-467.9,1772,1964,3034,4095,3.7,-11.9,8,73,0.00,1.10,0.00,0.000,260,0.000,0.045,1773,2373,3034,3034,4094,0,0,0,0,0,0,26.23,25.93,26.25,10.46,52.08
$GC,112,-1.77,-467.9,1772,2373,3036,4094,10.8,-16.4,15,119,0.00,1.05,0.00,0.000,1030,0.000,0.030,1773,1956,3036,3036,4095,0,0,0,0,0,0,26.04,26.00,26.07,10.46,52.00
$GC,152,-1.77,-467.9,1772,1955,3037,4095,17.8,-18.3,21,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3037,3037,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.46,51.45
$GC,190,-1.77,-467.9,1772,1955,3038,4095,24.5,-17.0,27,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3038,3038,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.45,51.37
$GC,229,-1.77,-467.9,1772,1955,3039,4095,29.3,-12.4,33,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3039,3039,4094,0,0,0,0,0,0,26.37,26.38,26.39,10.41,51.22
$GC,267,-1.77,-467.9,1772,1956,3040,4094,33.8,-11.5,39,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3040,3040,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,50.31
$GC,306,-1.77,-467.9,1772,1955,3041,4095,38.4,-12.2,45,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3041,3041,4095,0,0,0,0,0,0,26.41,26.44,26.43,10.37,49.17
$GC,344,-1.77,-467.9,1772,1955,3042,4095,43.2,-12.4,51,351,0.00,1.10,0.00,0.000,516,0.000,0.050,1773,1520,3042,3042,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.36,48.30
$GC,389,-1.77,-467.9,1772,1520,3043,4094,49.0,-13.2,58,396,0.00,1.00,0.00,0.000,1030,0.000,0.027,1773,1948,3043,3043,4095,0,0,0,0,0,0,26.26,26.23,26.27,10.34,48.30
$GC,429,-1.77,-467.9,1772,1948,3044,4095,54.2,-13.2,64,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1948,3044,3044,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.34,47.12
$GC,467,-1.77,-467.9,1772,1948,3045,4094,59.2,-12.9,70,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1948,3045,3045,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.33,47.04
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,486,-0.45,0.0,1773,2140,3045,4095,61.0,-13.4,72,522,4.43,0.00,27.20,1.315,10244,0.055,0.000,2185,2140,2484,2484,4095,0,0,0,0,0,0,26.20,25.32,24.27,10.33,47.83
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,527,1.77,467.9,2185,2140,2484,4095,63.8,0.0,78,568,7.47,0.00,26.80,1.285,11270,0.031,0.000,2889,2140,1941,1941,4094,0,0,0,0,0,0,25.60,25.75,23.87,10.21,46.49
$GC,601,1.77,467.9,2889,2140,1940,4094,58.2,11.7,90,607,0.00,1.12,0.00,0.000,260,0.000,0.050,2889,2553,1940,1940,4094,0,0,0,0,0,0,25.57,25.29,25.58,10.09,46.10
$GC,652,1.77,467.9,2889,2552,1939,4094,51.4,13.5,98,659,0.00,1.08,0.00,0.000,1030,0.000,0.026,2889,2126,1939,1939,4094,0,0,0,0,0,0,25.58,25.56,25.60,10.08,45.74
$GC,691,1.77,467.9,2889,2126,1938,4094,46.3,12.7,104,698,0.00,1.08,0.00,0.000,516,0.000,0.046,2889,1713,1937,1937,4094,0,0,0,0,0,0,25.88,25.58,25.89,10.07,46.18
$GC,767,1.77,467.9,2889,1713,1936,4094,36.6,12.6,116,773,0.00,0.98,0.00,0.000,1030,0.000,0.029,2889,2110,1935,1935,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.06,46.88
$GC,806,1.77,467.9,2889,2109,1934,4094,31.5,13.1,122,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2110,1934,1934,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.06,46.65
$GC,845,1.77,467.9,2888,2109,1933,4094,26.4,13.3,128,852,0.00,1.05,0.00,0.000,516,0.000,0.047,2889,1715,1933,1933,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.06,46.85
$GC,886,1.77,467.9,2889,1714,1932,4094,21.4,12.4,134,892,0.00,0.95,0.00,0.000,1030,0.000,0.028,2889,2107,1932,1932,4094,0,0,0,0,0,0,25.98,25.94,25.99,10.09,47.20
$GC,926,1.85,518.1,2889,2107,1931,4094,17.4,9.8,140,933,0.17,0.00,4.18,0.488,10246,0.061,0.000,2912,2107,1879,1879,4094,0,0,0,0,0,0,25.99,25.74,24.94,10.13,49.29
$GC,966,1.96,591.2,2911,2107,1878,4094,13.4,9.4,146,979,0.30,0.00,5.47,0.551,10246,0.040,0.000,2947,2107,1795,1795,4094,0,0,0,0,0,0,26.01,25.49,24.96,10.13,50.63
$GC,1012,1.96,591.2,2947,2107,1794,4094,8.6,10.7,153,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2107,1794,1794,4093,0,0,0,0,0,0,26.20,26.22,26.22,10.13,51.69
$GC,1050,1.96,591.2,2947,2107,1792,4093,4.1,11.7,159,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2107,1792,1792,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.14,52.28
$STATE,1068,end climb,FINISH_DEPTH_REACHED
$STATE,1068,begin subsurface finish
$FINISH1,1.7,1.023891,119
$GC,1076,0.18,119.1,2947,2114,1791,4095,1.7,11.3,162,1096,5.70,1.05,-4.85,0.000,20996,0.029,1.273,2398,1716,2350,2350,4094,0,0,0,0,0,0,26.06,24.68,26.10,10.15,52.71
$FINISH2,0.4
$STATE,1097,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,102110
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.99
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.87,30.359
$10V_AH,10.39,32.596
$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,24.500,12.575,63.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.911,237.944,166.246,240.597,80.463,33.429,356.894,0.000,248.518,0.000,0.543,0.000
$DEVICE_MAMPS,61.200,1272.960,1315.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,10823,165
$CAP_FILE_SIZE,32589,0
$CFSIZE,1024409600,965885952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,102731,6147.661,-17356.367,6,0.9,17,7.0,0.4,29.7,9,4.8