version: 66.13
glider: 401
mission: 22
dive: 720
start: 8 8 117 21 40 47
data:
$ID,401
$MISSION,22
$DIVE,720
$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,18
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,25
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$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
$GPS1,080817,210018,6040.9307,-17335.1855,7,0.8,54,7.1,0.0,59.8,9,21.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-3.0
$GPS2,080817,210018,6040.9307,-17335.1855,7,0.8,54,7.1,0.0,59.8,9,21.4
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.135344,0.371455
$KALMAN_X,67952.257812,-213.411957,207.647308,-247544.890625,52.736740
$KALMAN_Y,-28283.195312,1230.746216,823.414673,184796.828125,-112.022278
$MHEAD_RNG_PITCHd_Wd,332.9,44599,-12.5,-11.111,-15.70,6299
$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,8,-1.79,-438.8,2390,1939,2365,4092,0.0,0.0,0,21,6.28,0.00,-3.90,0.000,20482,0.023,0.000,1767,1940,2930,2930,4095,0,0,0,0,0,0,26.18,28.83,26.22,10.29,52.59
$GC,24,-1.79,-438.8,1767,1940,2930,4095,1.5,0.0,1,33,0.00,0.00,-0.43,0.000,16390,0.000,0.000,1767,1940,3002,3002,4094,0,0,0,0,0,0,26.39,25.60,26.27,10.42,52.99
$GC,70,-1.79,-438.8,1766,1939,3003,4094,6.9,-13.4,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1939,3004,3004,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.42,52.40
$GC,113,-1.79,-438.8,1766,1940,3005,4094,13.1,-14.0,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1940,3005,3005,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.40,51.57
$GC,158,-1.79,-438.8,1766,1939,3005,4094,19.7,-14.8,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1940,3006,3006,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.39,51.10
$GC,203,-1.79,-438.8,1766,1940,3007,4095,26.3,-14.6,25,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1940,3007,3007,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,50.94
$GC,248,-1.79,-438.8,1766,1939,3008,4095,32.9,-14.8,31,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1940,3008,3008,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,50.35
$GC,293,-1.79,-438.8,1766,1940,3010,4094,39.7,-14.9,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1940,3010,3010,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.37,49.68
$GC,337,-1.79,-438.8,1766,1939,3010,4095,46.1,-14.3,43,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1940,3011,3011,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.36,49.29
$GC,381,-1.79,-438.8,1766,1940,3012,4094,52.6,-14.2,49,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1940,3012,3012,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.36,48.85
$GC,426,-1.79,-438.8,1766,1939,3013,4095,58.9,-14.5,55,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1939,3014,3014,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,48.22
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,449,-0.45,0.0,1766,2067,3014,4094,61.7,-14.7,57,485,4.50,0.00,25.85,1.313,10246,0.059,0.000,2186,2066,2484,2484,4094,0,0,0,0,0,0,26.21,25.41,24.40,10.36,48.30
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,489,1.79,438.8,2186,2066,2484,4094,64.9,0.0,61,526,7.47,1.40,25.38,1.284,10500,0.034,0.047,2897,2569,1972,1972,4095,0,0,0,0,0,0,25.63,24.96,23.97,10.23,47.83
$GC,597,1.79,438.8,2896,2568,1970,4095,54.7,13.7,75,606,0.00,1.33,0.00,0.000,1030,0.000,0.028,2897,2058,1970,1970,4094,0,0,0,0,0,0,25.56,25.53,25.57,10.11,46.61
$GC,645,1.79,438.8,2897,2058,1969,4094,48.3,13.5,81,654,0.00,1.45,0.00,0.000,516,0.000,0.054,2897,1512,1968,1968,4094,0,0,0,0,0,0,25.89,25.59,25.90,10.11,46.45
$GC,749,1.79,438.8,2896,1512,1966,4094,34.3,12.8,96,759,0.00,1.20,0.00,0.000,1030,0.000,0.026,2896,2010,1966,1966,4094,0,0,0,0,0,0,25.89,25.85,25.92,10.12,47.75
$GC,796,1.79,438.8,2896,2009,1964,4094,28.3,13.2,102,806,0.00,1.52,0.00,0.000,260,0.000,0.052,2897,2577,1964,1964,4094,0,0,0,0,0,0,26.15,25.82,26.16,10.12,47.95
$GC,855,1.79,438.8,2896,2576,1963,4094,20.3,13.4,110,864,0.00,1.38,0.00,0.000,1030,0.000,0.028,2897,2038,1962,1962,4094,0,0,0,0,0,0,25.99,25.96,26.00,10.12,48.38
$GC,902,1.79,438.8,2896,2037,1961,4094,14.4,12.8,116,912,0.00,1.38,0.00,0.000,516,0.000,0.055,2897,1512,1960,1960,4094,0,0,0,0,0,0,26.26,25.95,26.27,10.13,49.01
$GC,961,1.79,438.8,2896,1512,1959,4094,6.6,12.8,124,970,0.00,1.30,0.00,0.000,1030,0.000,0.028,2897,2048,1958,1958,4095,0,0,0,0,0,0,26.10,26.07,26.12,10.15,49.29
$STATE,997,end climb,SURFACE_DEPTH_REACHED
$STATE,997,begin surface coast
$FINISH,0.4,1.024109
$STATE,1012,end surface coast,CONTROL_FINISHED_OK
$STATE,1012,begin surface
$SM_CCo,1110,0.00,0.000,0,0,1957,453.34
$SM_GC,1.12,27.48,0.25,0.00,0.024,0.049,0.000,237,1926,1957,-6.55,1.09,453.34,0,0,0,0,0,0,26.15,26.14,26.18
$IRIDIUM_FIX,6118.33,-17324.74,080817,194442
$TT8_MAMPS,0.025466,0.257656
$HUMID,52.12
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.97,19.433
$10V_AH,10.16,23.245
$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,45.725,11.700,51.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.655,59.645,134.715,545.163,55.895,33.420,350.739,0.000,319.030,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,61.200,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.402,355.825,281.858,417.801,543.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14339,131
$CAP_FILE_SIZE,27116,0
$CFSIZE,1024409600,984121344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,220032,6041.444,-17335.693,14,0.8,39,7.1,0.2,156.4,10,4.0