version: 66.13
glider: 401
mission: 22
dive: 771
start: 8 9 117 18 27 18
data:
$ID,401
$MISSION,22
$DIVE,771
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,090817,174330,6053.2725,-17337.4414,7,0.8,40,7.1,0.0,86.0,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.2
$GPS2,090817,174330,6053.2725,-17337.4414,7,0.8,40,7.1,0.0,86.0,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.235898,0.296107
$KALMAN_X,75787.265625,-44.317276,-45.840034,-257433.265625,113.361084
$KALMAN_Y,-25702.753906,2802.750977,959.534912,203365.250000,-66.857666
$MHEAD_RNG_PITCHd_Wd,314.4,22654,-11.3,-10.000,-14.80,6946
$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,-463.5,2388,1942,2361,4092,0.0,0.0,0,18,6.03,0.00,-1.52,0.000,20482,0.024,0.000,1792,1942,2531,2531,4095,0,0,0,0,0,0,26.13,28.83,26.17,10.36,51.65
$GC,22,-1.72,-463.5,1792,1942,2531,4095,0.2,0.0,1,34,0.00,1.50,-4.55,0.000,16644,0.000,1.261,1792,2481,3030,3030,4094,0,0,0,0,0,0,26.33,24.87,26.34,10.39,51.77
$GC,102,-1.72,-463.5,1792,2481,3032,4094,6.4,-14.2,14,109,0.00,1.33,0.00,0.000,1030,0.000,0.028,1792,1958,3032,3032,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.51,52.24
$GC,141,-1.72,-463.5,1791,1958,3033,4095,12.0,-14.8,20,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3033,3033,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.51,51.73
$GC,179,-1.72,-463.5,1791,1957,3034,4094,17.6,-15.2,26,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3034,3034,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.50,50.98
$GC,217,-1.72,-463.5,1791,1957,3035,4094,23.0,-14.3,32,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3035,3035,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.49,50.82
$GC,255,-1.72,-463.5,1791,1957,3036,4095,27.9,-13.2,38,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3035,3035,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.46,50.31
$GC,292,-1.72,-463.5,1791,1957,3036,4095,32.8,-12.7,44,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1957,3036,3036,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.45,49.64
$GC,330,-1.72,-463.5,1791,1958,3038,4095,37.6,-12.5,50,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3038,3038,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,49.13
$GC,368,-1.72,-463.5,1791,1957,3038,4095,42.4,-12.5,56,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3039,3039,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.42,48.58
$GC,406,-1.72,-463.5,1791,1957,3039,4095,47.2,-12.5,62,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3040,3040,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.41,47.67
$GC,444,-1.72,-463.5,1791,1957,3040,4095,51.9,-12.3,68,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1958,3040,3040,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.40,47.79
$GC,482,-1.72,-463.5,1791,1957,3041,4095,56.7,-12.9,74,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1957,3041,3041,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.39,47.12
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,512,-0.45,0.0,1792,2117,3042,4094,60.0,-12.8,78,548,4.18,0.00,26.77,1.280,10244,0.055,0.000,2186,2117,2484,2484,4095,0,0,0,0,0,0,26.25,25.42,24.44,10.38,46.69
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,552,1.72,463.5,2185,2117,2484,4095,62.7,0.0,84,594,7.18,1.38,26.55,1.255,10500,0.034,0.051,2878,2629,1944,1944,4094,0,0,0,0,0,0,25.60,25.54,24.00,10.27,46.53
$GC,645,1.72,463.5,2878,2628,1941,4094,54.1,12.9,99,651,0.00,1.35,0.00,0.000,1030,0.000,0.024,2879,2100,1941,1941,4094,0,0,0,0,0,0,25.51,25.49,25.53,10.15,45.90
$GC,683,1.72,463.5,2878,2100,1940,4094,49.1,12.6,105,690,0.00,1.40,0.00,0.000,516,0.000,0.050,2878,1572,1940,1940,4094,0,0,0,0,0,0,25.84,25.55,25.85,10.14,45.70
$GC,770,1.72,463.5,2878,1572,1937,4094,37.8,12.7,119,777,0.00,1.23,0.00,0.000,1030,0.000,0.027,2878,2072,1937,1937,4095,0,0,0,0,0,0,25.83,25.80,25.84,10.13,46.29
$GC,809,1.72,463.5,2878,2072,1936,4095,32.8,13.3,125,816,0.00,1.52,0.00,0.000,260,0.000,0.053,2878,2653,1936,1936,4095,0,0,0,0,0,0,26.10,25.79,26.11,10.13,47.16
$GC,866,1.72,463.5,2878,2652,1935,4095,25.6,12.7,134,872,0.00,1.42,0.00,0.000,1030,0.000,0.027,2879,2088,1934,1934,4095,0,0,0,0,0,0,25.96,25.94,25.98,10.14,47.83
$GC,904,1.72,463.5,2878,2088,1933,4095,20.9,11.7,140,911,0.00,1.35,0.00,0.000,516,0.000,0.050,2878,1570,1933,1933,4094,0,0,0,0,0,0,26.22,25.91,26.22,10.16,47.75
$GC,1003,1.72,463.5,2878,1569,1931,4094,9.5,11.7,156,1010,0.00,1.20,0.00,0.000,1030,0.000,0.026,2878,2068,1931,1931,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.21,50.35
$GC,1042,1.72,463.5,2878,2067,1930,4094,5.3,10.9,162,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2068,1930,1930,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.23,51.22
$STATE,1071,end climb,SURFACE_DEPTH_REACHED
$STATE,1072,begin surface coast
$FINISH,0.2,1.024101
$STATE,1091,end surface coast,CONTROL_FINISHED_OK
$STATE,1091,begin surface
$SM_CCo,1189,0.00,0.000,0,0,1928,478.24
$SM_GC,1.02,27.15,0.28,0.00,0.023,0.044,0.000,239,1934,1928,-6.55,1.41,478.24,0,0,0,0,0,0,26.17,26.19,26.21
$IRIDIUM_FIX,5952.82,-17420.78,090817,173507
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.36
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.00,20.801
$10V_AH,10.44,24.467
$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,44.525,14.675,53.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.134,329.768,167.697,247.200,58.565,33.414,351.375,0.000,255.475,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1260.720,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,14351,170
$CAP_FILE_SIZE,31321,0
$CFSIZE,1024409600,981614592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,184757,6053.889,-17337.719,9,0.8,14,7.1,0.0,0.0,10,4.7