version: 66.13
glider: 401
mission: 22
dive: 2087
start: 9 1 117 12 21 41
data:
$ID,401
$MISSION,22
$DIVE,2087
$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,600
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,49
$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
$GPS1,010917,120031,6006.8032,-17320.8281,10,0.9,28,7.2,0.6,8.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.3
$GPS2,010917,120031,6006.8032,-17320.8281,10,0.9,28,7.2,0.6,8.1,10,5.0
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,122.3,2164,-10.3,-10.526,-13.92,8308
$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,11,-1.82,-585.0,2388,1986,2372,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.024,0.000,1834,1987,2372,2372,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.35,52.12
$GC,25,-1.82,-585.0,1834,1986,2372,4094,0.1,0.0,1,38,0.52,1.05,-7.62,0.000,20740,0.034,1.233,1775,2355,3170,3170,4094,0,0,0,0,0,0,26.12,24.19,26.14,10.35,52.28
$GC,97,-1.82,-585.0,1775,2355,3172,4094,7.4,-15.0,12,104,0.00,1.02,0.00,0.000,1030,0.000,0.031,1775,1945,3173,3173,4095,0,0,0,0,0,0,26.07,26.03,26.10,10.53,52.32
$GC,138,-1.82,-585.0,1775,1945,3173,4095,14.3,-16.7,18,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3174,3174,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.53,52.36
$GC,179,-1.82,-585.0,1774,1945,3175,4094,20.8,-15.4,24,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3175,3175,4094,0,0,0,0,0,0,26.46,26.46,26.47,10.53,51.92
$GC,219,-1.82,-585.0,1774,1945,3176,4094,26.1,-13.5,30,226,0.00,1.08,0.00,0.000,516,0.000,0.050,1775,1520,3176,3176,4095,0,0,0,0,0,0,26.48,26.01,26.49,10.53,51.85
$GC,279,-1.82,-585.0,1774,1520,3177,4095,34.0,-12.5,39,285,0.00,0.95,0.00,0.000,1030,0.000,0.026,1775,1932,3177,3177,4094,0,0,0,0,0,0,26.24,26.21,26.26,10.47,51.41
$GC,320,-1.82,-585.0,1774,1932,3178,4094,38.7,-11.1,45,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1932,3178,3178,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.46,51.06
$GC,361,-1.82,-585.0,1775,1932,3179,4094,43.3,-11.6,51,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1932,3179,3179,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.44,50.19
$GC,401,-1.82,-585.0,1774,1933,3180,4094,48.1,-11.6,57,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1933,3180,3180,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.43,49.64
$GC,442,-1.82,-585.0,1775,1932,3181,4094,53.1,-12.3,63,448,0.00,1.12,0.00,0.000,260,0.000,0.044,1775,2364,3181,3181,4095,0,0,0,0,0,0,26.58,26.12,26.59,10.43,48.74
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,508,-0.45,0.0,1774,2116,3183,4095,60.2,-12.0,72,550,4.40,0.00,33.65,1.329,10244,0.050,0.000,2186,2116,2484,2484,4095,0,0,0,0,0,0,26.15,25.18,24.06,10.41,48.62
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,556,1.82,585.0,2186,2115,2484,4095,63.4,0.0,79,604,7.62,0.00,33.38,1.287,11270,0.029,0.000,2903,2116,1801,1801,4094,0,0,0,0,0,0,25.51,25.67,23.67,10.27,48.22
$GC,639,1.82,585.0,2903,2115,1800,4094,56.3,13.4,92,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2116,1800,1800,4094,0,0,0,0,0,0,25.48,25.48,25.48,10.12,46.81
$GC,680,1.82,585.0,2902,2115,1798,4094,50.6,13.3,98,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2116,1798,1798,4095,0,0,0,0,0,0,25.69,25.70,25.70,10.11,46.88
$GC,721,1.82,585.0,2902,2115,1798,4095,45.4,12.7,104,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2116,1797,1797,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.10,47.20
$GC,761,1.82,585.0,2902,2115,1796,4094,40.1,12.8,110,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2116,1796,1796,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.10,47.04
$GC,802,1.82,585.0,2902,2115,1795,4094,34.7,13.4,116,809,0.00,0.98,0.00,0.000,516,0.000,0.045,2903,1738,1795,1795,4095,0,0,0,0,0,0,26.05,25.65,26.06,10.11,48.11
$GC,885,1.82,585.0,2902,1737,1792,4095,23.8,12.7,129,892,0.00,0.95,0.00,0.000,1030,0.000,0.029,2903,2128,1792,1792,4094,0,0,0,0,0,0,25.91,25.87,25.92,10.12,48.77
$GC,927,1.82,585.0,2903,2128,1791,4094,18.9,12.1,135,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1791,1791,4095,0,0,0,0,0,0,26.25,26.26,26.25,10.16,50.59
$GC,967,1.82,585.0,2903,2128,1790,4095,14.3,11.3,141,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2128,1790,1790,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.17,52.04
$GC,1008,1.82,585.0,2902,2128,1789,4094,9.6,11.3,147,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2128,1788,1788,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.17,51.89
$GC,1048,1.82,585.0,2902,2127,1788,4094,5.0,11.2,153,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2128,1787,1787,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.19,52.52
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1072,begin subsurface finish
$FINISH1,1.9,1.024165,100
$GC,1084,0.15,100.0,2903,2128,1786,4094,1.9,10.8,157,1098,5.40,0.00,-5.15,0.000,20998,0.042,0.000,2386,2128,2372,2372,4095,0,0,0,0,0,0,26.13,24.41,26.17,10.19,52.63
$FINISH2,0.2
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,104249
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.67,60.927
$10V_AH,10.34,56.382
$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,23.575,8.350,67.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,410.842,236.093,155.452,231.987,127.554,0.000,335.634,0.000,239.993,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1233.180,1328.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,10818,159
$CAP_FILE_SIZE,28478,0
$CFSIZE,1024409600,916930560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,120031,6006.803,-17320.828,10,0.9,28,7.2,0.6,8.1,10,5.0