version: 66.13
glider: 401
mission: 22
dive: 774
start: 8 9 117 19 39 58
data:
$ID,401
$MISSION,22
$DIVE,774
$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,20
$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,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,2105
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,090817,185504,6053.8628,-17337.7129,7,0.9,15,7.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.4
$GPS2,090817,185504,6053.8628,-17337.7129,7,0.9,15,7.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.240273,0.310807
$KALMAN_X,76296.039062,-54.305954,-53.289192,-258181.890625,116.234245
$KALMAN_Y,-25732.525391,2851.177246,980.369873,204418.453125,-90.346069
$MHEAD_RNG_PITCHd_Wd,315.2,21583,-10.7,-10.000,-14.28,7595
$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,-1.70,-487.5,2392,1976,2369,4092,0.0,0.0,0,21,6.03,0.00,-4.15,0.000,20482,0.026,0.000,1801,1976,2834,2834,4094,0,0,0,0,0,0,26.20,28.83,26.21,10.37,52.16
$GC,24,-1.70,-487.5,1801,1976,2834,4094,0.1,0.0,1,34,0.00,1.35,-2.03,0.000,16644,0.000,1.274,1801,2463,3055,3055,4095,0,0,0,0,0,0,26.41,24.94,26.39,10.46,52.32
$GC,90,-1.70,-487.5,1800,2463,3056,4095,5.0,-11.9,10,98,0.00,1.27,0.00,0.000,1030,0.000,0.028,1801,1959,3056,3056,4094,0,0,0,0,0,0,26.12,26.09,26.17,10.52,52.91
$GC,135,-1.70,-487.5,1800,1959,3057,4094,11.3,-14.0,16,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1958,3058,3058,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.52,52.24
$GC,180,-1.70,-487.5,1800,1959,3059,4094,17.4,-13.1,22,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1959,3058,3058,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.51,51.57
$GC,225,-1.70,-487.5,1800,1958,3060,4095,23.2,-12.7,28,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1959,3060,3060,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.49,50.90
$GC,270,-1.70,-487.5,1800,1959,3061,4095,28.6,-11.9,34,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1959,3061,3061,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.47,50.78
$GC,314,-1.70,-487.5,1800,1959,3062,4094,33.6,-11.4,40,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1959,3062,3062,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.46,49.64
$GC,359,-1.70,-487.5,1801,1959,3062,4095,38.8,-11.7,46,369,0.00,1.40,0.00,0.000,516,0.000,0.052,1801,1413,3062,3062,4094,0,0,0,0,0,0,26.51,26.20,26.51,10.44,49.33
$GC,392,-1.70,-487.5,1800,1413,3063,4094,42.6,-11.5,50,401,0.00,1.25,0.00,0.000,1030,0.000,0.025,1801,1941,3063,3063,4094,0,0,0,0,0,0,26.32,26.29,26.33,10.43,48.38
$GC,438,-1.70,-487.5,1800,1941,3064,4094,48.0,-11.3,56,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1941,3064,3064,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,48.14
$GC,484,-1.70,-487.5,1800,1941,3065,4095,53.3,-11.7,62,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1941,3066,3066,4094,0,0,0,0,0,0,26.55,26.58,26.57,10.40,47.12
$GC,529,-1.70,-487.5,1800,1941,3066,4094,58.8,-12.1,68,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1941,3067,3067,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.39,46.73
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,546,begin apogee
$GC,553,-0.45,0.0,1801,2101,3067,4095,61.0,-12.1,70,588,4.07,0.00,27.98,1.300,10244,0.055,0.000,2185,2102,2484,2484,4094,0,0,0,0,0,0,26.29,25.43,24.44,10.39,46.33
$STATE,589,end apogee,CONTROL_FINISHED_OK
$STATE,589,begin climb
$GC,592,1.70,487.5,2185,2101,2484,4094,63.7,0.0,74,637,7.18,0.00,27.80,1.265,11270,0.034,0.000,2870,2101,1916,1916,4094,0,0,0,0,0,0,25.67,25.81,24.01,10.27,46.10
$GC,675,1.70,487.5,2869,2101,1915,4094,57.2,12.0,84,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,1915,1915,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.14,44.64
$GC,721,1.70,487.5,2869,2100,1914,4094,51.3,12.1,90,731,0.00,1.45,0.00,0.000,516,0.000,0.047,2870,1565,1913,1913,4094,0,0,0,0,0,0,25.83,25.57,25.84,10.13,45.39
$GC,774,1.70,487.5,2870,1564,1912,4094,44.6,12.2,97,783,0.00,1.27,0.00,0.000,1030,0.000,0.027,2870,2080,1912,1912,4094,0,0,0,0,0,0,25.75,25.72,25.78,10.13,45.35
$GC,820,1.70,487.5,2870,2080,1911,4094,38.9,12.2,103,829,0.00,1.50,0.00,0.000,260,0.000,0.053,2870,2633,1911,1911,4094,0,0,0,0,0,0,26.05,25.74,26.06,10.13,45.43
$GC,878,1.70,487.5,2870,2633,1910,4094,31.8,12.0,111,888,0.00,1.40,0.00,0.000,1030,0.000,0.027,2870,2080,1909,1909,4094,0,0,0,0,0,0,25.91,25.89,25.96,10.13,46.29
$GC,924,1.70,487.5,2870,2080,1908,4094,26.2,12.6,117,934,0.00,1.33,0.00,0.000,516,0.000,0.050,2870,1572,1908,1908,4094,0,0,0,0,0,0,26.20,25.91,26.21,10.14,46.69
$GC,1029,1.70,487.5,2869,1572,1905,4094,14.4,10.8,132,1037,0.00,1.20,0.00,0.000,1030,0.000,0.026,2871,2069,1905,1905,4094,0,0,0,0,0,0,26.11,26.06,26.10,10.18,48.42
$GC,1075,1.70,487.5,2870,2069,1904,4094,9.6,10.7,138,1085,0.00,1.50,0.00,0.000,260,0.000,0.054,2870,2631,1904,1904,4094,0,0,0,0,0,0,26.34,26.03,26.35,10.21,50.47
$STATE,1145,end climb,SURFACE_DEPTH_REACHED
$STATE,1145,begin surface coast
$FINISH,0.1,1.001239
$STATE,1160,end surface coast,CONTROL_FINISHED_OK
$STATE,1160,begin surface
$SM_CCo,1259,0.00,0.000,0,0,1901,501.42
$SM_GC,1.16,27.12,1.77,0.00,0.021,0.030,0.000,231,1949,1901,-6.59,1.05,501.42,0,0,0,0,0,0,26.09,26.13,26.17
$IRIDIUM_FIX,6149.06,-17422.35,090817,174033
$TT8_MAMPS,0.025466,0.244923
$HUMID,51.81
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.01,20.881
$10V_AH,10.20,24.552
$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,44.400,17.975,55.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,420.170,60.191,150.753,625.583,65.244,33.420,395.891,0.000,365.309,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1273.725,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.348,407.491,322.640,477.972,622.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,14275,150
$CAP_FILE_SIZE,30930,0
$CFSIZE,1024409600,981467136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,200202,6054.398,-17337.996,9,0.9,29,7.1,0.0,83.4,9,4.6