version: 66.13
glider: 401
mission: 22
dive: 747
start: 8 9 117 8 36 2
data:
$ID,401
$MISSION,22
$DIVE,747
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,090817,075303,6049.7676,-17335.9648,7,0.8,13,7.1,0.6,55.9,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.2
$GPS2,090817,075303,6049.7676,-17335.9648,7,0.8,13,7.1,0.6,55.9,10,4.7
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.313698,0.223203
$KALMAN_X,72032.742188,-31.330944,269.171722,-252607.203125,257.123718
$KALMAN_Y,-24221.335938,2970.022705,1742.207275,194441.390625,-27.416992
$MHEAD_RNG_PITCHd_Wd,298.3,29038,-11.0,-10.000,-14.56,7233
$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,-483.0,2390,1941,2372,4092,0.0,0.0,0,18,6.12,0.00,-1.42,0.000,20482,0.027,0.000,1791,1942,2529,2529,4095,0,0,0,0,0,0,26.10,28.83,26.15,10.35,51.73
$GC,22,-1.72,-483.0,1791,1942,2529,4095,0.1,0.0,1,34,0.00,1.48,-4.80,0.000,16644,0.000,1.272,1791,2460,3053,3053,4095,0,0,0,0,0,0,26.32,24.84,26.33,10.38,51.65
$GC,234,-1.72,-483.0,1790,2460,3058,4095,27.4,-13.3,36,241,0.00,1.27,0.00,0.000,1030,0.000,0.028,1791,1956,3059,3059,4094,0,0,0,0,0,0,26.17,26.14,26.19,10.45,51.02
$GC,273,-1.72,-483.0,1790,1956,3060,4094,32.3,-12.6,42,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1956,3060,3060,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.44,49.96
$GC,311,-1.72,-483.0,1790,1956,3060,4094,37.0,-12.3,48,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1957,3060,3060,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.43,48.93
$GC,349,-1.72,-483.0,1790,1955,3061,4094,41.8,-12.5,54,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1956,3061,3061,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.41,48.54
$GC,387,-1.72,-483.0,1790,1956,3063,4095,46.6,-13.0,60,393,0.00,1.40,0.00,0.000,516,0.000,0.053,1790,1413,3062,3062,4094,0,0,0,0,0,0,26.47,26.16,26.48,10.40,48.11
$GC,443,-1.72,-483.0,1790,1412,3064,4094,54.0,-12.8,69,450,0.00,1.23,0.00,0.000,1030,0.000,0.025,1791,1933,3064,3064,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.39,47.55
$GC,482,-1.72,-483.0,1790,1932,3064,4095,58.9,-12.8,75,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1932,3064,3064,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.39,47.75
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,499,-0.45,0.0,1790,2097,3065,4095,60.6,-13.4,77,535,4.22,0.00,27.88,1.294,10244,0.055,0.000,2187,2097,2484,2484,4094,0,0,0,0,0,0,26.23,25.37,24.38,10.38,47.36
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,539,1.72,483.0,2187,2097,2484,4094,63.1,0.0,83,579,7.25,0.00,27.45,1.266,11270,0.034,0.000,2878,2097,1920,1920,4094,0,0,0,0,0,0,25.62,25.76,23.94,10.26,47.28
$GC,611,1.72,483.0,2877,2097,1920,4094,57.0,12.4,94,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2097,1919,1919,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.13,45.47
$GC,649,1.72,483.0,2877,2097,1919,4094,52.3,12.1,100,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2097,1919,1919,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.13,45.35
$GC,687,1.72,483.0,2877,2097,1918,4094,47.6,12.1,106,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2097,1918,1918,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.13,46.02
$GC,725,1.72,483.0,2877,2097,1916,4094,42.9,12.2,112,732,0.00,1.42,0.00,0.000,516,0.000,0.049,2878,1568,1916,1916,4094,0,0,0,0,0,0,25.94,25.64,25.95,10.12,46.22
$GC,787,1.72,483.0,2877,1568,1915,4094,35.5,11.7,122,794,0.00,1.27,0.00,0.000,1030,0.000,0.027,2878,2086,1915,1915,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.12,46.77
$GC,826,1.72,483.0,2877,2085,1914,4094,30.9,11.8,128,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2086,1914,1914,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.12,47.00
$GC,864,1.72,483.0,2877,2085,1912,4094,26.5,11.4,134,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2085,1912,1912,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.13,46.88
$GC,902,1.72,483.0,2877,2085,1912,4094,22.1,11.6,140,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2085,1911,1911,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.15,47.67
$GC,940,1.72,483.0,2877,2085,1911,4094,17.7,11.7,146,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2085,1911,1911,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.17,48.97
$GC,978,1.72,483.0,2877,2085,1910,4094,13.4,11.6,152,984,0.00,1.38,0.00,0.000,516,0.000,0.049,2878,1568,1910,1910,4094,0,0,0,0,0,0,26.27,25.96,26.29,10.18,50.03
$GC,1016,1.72,483.0,2876,1568,1909,4094,9.1,10.9,158,1023,0.00,1.27,0.00,0.000,1030,0.000,0.027,2878,2093,1908,1908,4094,0,0,0,0,0,0,26.09,26.07,26.11,10.20,50.70
$GC,1055,1.73,490.5,2877,2093,1907,4094,5.4,9.9,164,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2093,1907,1907,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.22,50.78
$STATE,1090,end climb,SURFACE_DEPTH_REACHED
$STATE,1090,begin surface coast
$FINISH,0.1,1.024173
$STATE,1109,end surface coast,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$SM_CCo,1208,0.00,0.000,0,0,1906,497.13
$SM_GC,0.93,27.27,0.38,0.00,0.022,0.044,0.000,230,1947,1906,-6.59,1.18,497.13,0,0,0,0,0,0,26.10,26.14,26.17
$IRIDIUM_FIX,6147.65,-17810.76,090817,063542
$TT8_MAMPS,0.025466,0.105609
$HUMID,52.12
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.94,20.142
$10V_AH,10.43,23.888
$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,44.875,11.925,55.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,455.923,336.461,165.812,251.462,60.642,33.417,351.797,0.000,259.780,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1272.195,1293.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,14292,173
$CAP_FILE_SIZE,31448,0
$CFSIZE,1024409600,982794240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,553.26,0x236164,1,24
$GPS,090817,085708,6050.335,-17335.480,5,0.9,22,7.1,0.4,76.6,9,5.0