version: 66.13
glider: 401
mission: 22
dive: 772
start: 8 9 117 18 56 11
data:
$ID,401
$MISSION,22
$DIVE,772
$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,40
$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
$GPS1,090817,184757,6053.8887,-17337.7188,9,0.8,14,7.1,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-43.1
$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,-0.215742,0.321497
$KALMAN_X,75893.539062,-79.057480,-79.848274,-257722.609375,37.289856
$KALMAN_Y,-25270.246094,2917.137207,1071.126221,203780.437500,-21.671753
$MHEAD_RNG_PITCHd_Wd,319.0,21583,-10.9,-10.000,-14.48,7332
$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,-487.5,238,1933,1928,4092,0.0,0.0,0,21,10.27,0.00,0.00,0.000,2049,0.103,0.000,1105,1933,1928,1928,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.31,51.18
$GC,24,-1.72,-487.5,1105,1932,1928,4094,0.9,0.0,1,50,7.15,1.52,-10.18,0.000,18692,0.044,1.266,1781,2480,3050,3050,4095,0,0,0,0,0,0,25.98,24.77,26.05,10.32,50.47
$GC,139,-1.72,-487.5,1780,2479,3052,4095,7.9,-13.9,17,148,0.00,1.30,0.00,0.000,1030,0.000,0.027,1781,1960,3052,3052,4095,0,0,0,0,0,0,26.01,25.96,26.03,10.56,50.55
$GC,185,-1.72,-487.5,1780,1959,3053,4095,14.6,-15.0,23,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1960,3053,3053,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.56,49.48
$GC,229,-1.72,-487.5,1780,1959,3054,4095,21.4,-14.8,29,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1960,3054,3054,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.54,49.72
$GC,275,-1.72,-487.5,1780,1959,3056,4094,27.5,-13.1,35,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1960,3055,3055,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.51,48.14
$GC,320,-1.72,-487.5,1780,1959,3056,4095,33.6,-13.7,41,329,0.00,1.38,0.00,0.000,516,0.000,0.050,1781,1423,3057,3057,4094,0,0,0,0,0,0,26.39,26.08,26.40,10.48,47.67
$GC,352,-1.72,-487.5,1780,1423,3057,4094,38.0,-13.3,45,362,0.00,1.27,0.00,0.000,1030,0.000,0.024,1781,1956,3057,3057,4094,0,0,0,0,0,0,26.20,26.19,26.23,10.47,47.44
$GC,399,-1.72,-487.5,1780,1955,3058,4094,44.1,-13.5,51,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1956,3059,3059,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.45,46.25
$GC,444,-1.72,-487.5,1780,1956,3060,4095,50.2,-13.1,57,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1956,3060,3060,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.44,45.55
$GC,488,-1.72,-487.5,1780,1956,3060,4094,56.1,-13.4,63,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1956,3061,3061,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.43,45.47
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,527,-0.45,0.0,1781,2110,3061,4094,60.4,-13.3,67,563,4.30,0.00,27.83,1.286,10244,0.057,0.000,2185,2110,2483,2483,4094,0,0,0,0,0,0,26.21,25.37,24.39,10.41,44.40
$STATE,564,end apogee,CONTROL_FINISHED_OK
$STATE,564,begin climb
$GC,566,1.72,487.5,2185,2110,2483,4094,63.5,0.0,71,611,7.25,0.00,27.73,1.267,11270,0.034,0.000,2877,2110,1917,1917,4094,0,0,0,0,0,0,25.62,25.77,23.96,10.30,44.13
$GC,649,1.72,487.5,2877,2110,1915,4094,57.0,12.1,81,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2110,1915,1915,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.16,43.34
$GC,694,1.72,487.5,2877,2110,1914,4094,51.3,12.3,87,703,0.00,1.42,0.00,0.000,516,0.000,0.045,2877,1576,1914,1914,4094,0,0,0,0,0,0,25.81,25.51,25.82,10.16,43.66
$GC,746,1.72,487.5,2877,1576,1913,4094,44.9,11.7,94,755,0.00,1.23,0.00,0.000,1030,0.000,0.026,2877,2077,1913,1913,4094,0,0,0,0,0,0,25.75,25.71,25.76,10.15,44.01
$GC,794,1.72,487.5,2877,2076,1910,4094,39.6,11.3,100,803,0.00,1.52,0.00,0.000,260,0.000,0.051,2877,2639,1912,1912,4094,0,0,0,0,0,0,26.03,25.73,26.05,10.15,44.25
$GC,846,1.72,487.5,2877,2638,1911,4094,33.3,11.4,107,855,0.00,1.42,0.00,0.000,1030,0.000,0.027,2877,2075,1910,1910,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.15,45.15
$GC,892,1.72,487.5,2877,2074,1909,4094,28.2,10.8,113,902,0.00,1.30,0.00,0.000,516,0.000,0.050,2877,1574,1909,1909,4094,0,0,0,0,0,0,26.17,25.88,26.19,10.16,45.43
$GC,998,1.72,487.5,2877,1574,1907,4094,17.0,10.4,128,1007,0.00,1.15,0.00,0.000,1030,0.000,0.026,2877,2054,1906,1906,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.19,48.34
$GC,1046,1.72,487.5,2877,2054,1905,4094,12.2,10.2,134,1055,0.00,1.55,0.00,0.000,260,0.000,0.052,2877,2636,1905,1905,4094,0,0,0,0,0,0,26.32,26.02,26.34,10.22,49.29
$GC,1117,1.72,487.5,2877,2636,1904,4094,4.2,11.1,144,1127,0.00,1.45,0.00,0.000,1030,0.000,0.027,2877,2058,1903,1903,4094,0,0,0,0,0,0,26.17,26.15,26.17,10.24,49.76
$STATE,1141,end climb,FINISH_DEPTH_REACHED
$STATE,1141,begin subsurface finish
$FINISH1,1.4,1.024105,104
$GC,1149,0.16,104.2,2877,2123,1902,4094,1.4,10.9,147,1169,4.85,1.52,-3.97,0.000,20996,0.024,1.278,2391,1567,2369,2369,4094,0,0,0,0,0,0,26.19,24.91,26.23,10.25,50.15
$FINISH2,0.2
$STATE,1170,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1170,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,090817,174033
$TT8_MAMPS,0.025466,0.245672
$HUMID,51.06
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.96,20.839
$10V_AH,10.19,24.506
$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,33.825,18.525,55.550,0.000,0.000,22.528,21.061,235.117,0.000,0.000,16.491,419.640,0.395,134.463,907.974,154.472,33.453,396.027,0.000,364.947,0.000,0.543,0.000
$DEVICE_MAMPS,102.510,1278.315,1285.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.112,404.811,320.458,474.854,619.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,14487,149
$CAP_FILE_SIZE,33489,0
$CFSIZE,1024409600,981549056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,185504,6053.863,-17337.713,7,0.9,15,7.1,0.0,0.0,9,5.0