version: 66.13
glider: 401
mission: 22
dive: 775
start: 8 9 117 20 10 44
data:
$ID,401
$MISSION,22
$DIVE,775
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,31
$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
$GPS1,090817,200202,6054.3984,-17337.9961,9,0.9,29,7.1,0.0,83.4,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-40.3
$GPS2,090817,200937,6054.3564,-17338.0117,6,0.9,17,7.1,0.3,163.7,9,4.4
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.197344,0.328203
$KALMAN_X,76387.687500,-90.897354,-89.024200,-258477.968750,34.030037
$KALMAN_Y,-25434.876953,2944.129639,1069.162354,204836.968750,-68.951782
$MHEAD_RNG_PITCHd_Wd,321.9,20658,-11.1,-10.000,-14.63,7141
$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,-1.72,-476.8,231,1947,1901,4092,0.0,0.0,0,18,7.35,0.00,0.00,0.000,2049,0.097,0.000,855,1948,1901,1901,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.31,50.15
$GC,21,-1.72,-476.8,855,1948,1901,4094,0.8,0.0,1,46,9.85,1.50,-10.20,0.000,18692,0.048,1.268,1781,2484,3046,3046,4095,0,0,0,0,0,0,25.97,24.77,26.05,10.32,50.94
$GC,120,-1.72,-476.8,1781,2483,3048,4095,9.5,-14.8,17,127,0.00,1.35,0.00,0.000,1030,0.000,0.026,1782,1947,3048,3048,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.56,50.23
$GC,159,-1.72,-476.8,1781,1947,3049,4095,14.9,-14.6,23,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1947,3049,3049,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.56,49.68
$GC,197,-1.72,-476.8,1781,1947,3049,4095,20.3,-14.2,29,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1947,3050,3050,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.54,48.77
$GC,235,-1.72,-476.8,1781,1947,3051,4095,25.4,-13.8,35,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1947,3051,3051,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.51,48.58
$GC,273,-1.72,-476.8,1781,1947,3052,4094,30.2,-12.7,41,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1947,3052,3052,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.50,48.18
$GC,311,-1.72,-476.8,1781,1947,3052,4094,35.0,-13.1,47,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1947,3053,3053,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.48,47.36
$GC,349,-1.72,-476.8,1781,1947,3053,4094,39.7,-12.0,53,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1947,3054,3054,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.46,46.81
$GC,387,-1.72,-476.8,1781,1947,3054,4094,44.0,-11.7,59,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1947,3054,3054,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.45,46.41
$GC,425,-1.72,-476.8,1781,1947,3055,4095,48.6,-12.1,65,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1947,3055,3055,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.43,45.70
$GC,463,-1.72,-476.8,1781,1947,3056,4094,53.4,-12.6,71,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1947,3055,3055,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.43,45.27
$GC,501,-1.72,-476.8,1781,1947,3057,4094,58.4,-12.9,77,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1947,3057,3057,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,45.70
$STATE,511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,518,-0.45,0.0,1781,2114,3057,4095,60.1,-13.3,79,554,4.30,0.00,27.48,1.282,10244,0.054,0.000,2186,2114,2484,2484,4094,0,0,0,0,0,0,26.25,25.41,24.43,10.41,45.11
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,558,1.72,476.8,2186,2114,2483,4094,62.7,0.0,85,600,7.18,0.00,27.15,1.255,11270,0.033,0.000,2878,2114,1927,1927,4094,0,0,0,0,0,0,25.66,25.80,24.00,10.29,44.52
$GC,632,1.72,476.8,2877,2114,1926,4094,56.2,12.8,97,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2114,1926,1926,4094,0,0,0,0,0,0,25.61,25.63,25.63,10.16,43.77
$GC,670,1.72,476.8,2877,2114,1925,4094,51.2,13.5,103,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2114,1926,1926,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.16,44.05
$GC,708,1.72,476.8,2877,2114,1924,4094,46.1,13.7,109,715,0.00,1.45,0.00,0.000,516,0.000,0.047,2878,1574,1924,1924,4095,0,0,0,0,0,0,25.89,25.60,25.90,10.15,44.17
$GC,753,1.72,476.8,2877,1573,1923,4095,40.0,13.5,116,760,0.00,1.23,0.00,0.000,1030,0.000,0.026,2878,2076,1923,1923,4094,0,0,0,0,0,0,25.79,25.76,25.81,10.15,44.48
$GC,792,1.72,476.8,2877,2076,1922,4094,34.9,12.8,122,798,0.00,1.50,0.00,0.000,260,0.000,0.052,2878,2631,1921,1921,4095,0,0,0,0,0,0,26.06,25.76,26.08,10.15,44.76
$GC,832,1.72,476.8,2877,2630,1920,4095,29.9,12.7,128,839,0.00,1.38,0.00,0.000,1030,0.000,0.026,2878,2084,1920,1920,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.16,46.33
$GC,871,1.72,476.8,2877,2084,1919,4094,24.9,12.2,134,877,0.00,1.35,0.00,0.000,516,0.000,0.050,2878,1566,1919,1919,4094,0,0,0,0,0,0,26.17,25.87,26.19,10.17,46.37
$GC,963,1.72,476.8,2876,1565,1917,4094,14.9,10.0,149,970,0.00,1.20,0.00,0.000,1030,0.000,0.025,2877,2065,1917,1917,4094,0,0,0,0,0,0,26.06,26.05,26.09,10.20,47.99
$GC,1002,1.72,476.8,2877,2065,1916,4094,11.1,10.4,155,1009,0.00,1.52,0.00,0.000,260,0.000,0.053,2878,2634,1916,1916,4094,0,0,0,0,0,0,26.31,25.98,26.32,10.22,50.23
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,1.8,1.024117,103
$GC,1089,0.15,103.3,2878,2104,1913,4094,1.8,11.3,168,1104,5.20,1.48,-3.85,0.000,20996,0.066,1.282,2397,1561,2369,2369,4095,0,0,0,0,0,0,26.10,24.89,26.17,10.25,50.63
$FINISH2,0.1
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,090817,185006
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.73
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,24.00,20.919
$10V_AH,10.37,24.568
$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,33.875,15.700,54.625,0.000,0.000,24.159,17.115,253.773,0.000,0.000,19.164,447.077,257.022,161.943,554.458,157.186,33.452,356.653,0.000,256.926,0.000,0.544,0.000
$DEVICE_MAMPS,97.155,1282.140,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,14328,170
$CAP_FILE_SIZE,35148,0
$CFSIZE,1024409600,981401600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,200937,6054.356,-17338.012,6,0.9,17,7.1,0.3,163.7,9,4.4