version: 66.13
glider: 401
mission: 22
dive: 777
start: 8 9 117 20 51 58
data:
$ID,401
$MISSION,22
$DIVE,777
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,090817,200937,6054.3564,-17338.0117,6,0.9,17,7.1,0.3,163.7,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.6
$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,-0.222383,0.312201
$KALMAN_X,76761.085938,-70.983307,-66.404388,-258899.468750,104.739136
$KALMAN_Y,-25890.568359,2862.565674,961.756104,205497.468750,-114.988403
$MHEAD_RNG_PITCHd_Wd,317.4,20658,-11.0,-10.000,-14.62,7156
$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,9,-1.72,-477.8,2389,1946,2363,4092,0.0,0.0,0,18,6.07,0.00,-1.05,0.000,20482,0.025,0.000,1793,1946,2481,2481,4095,0,0,0,0,0,0,26.10,28.83,26.15,10.37,52.00
$GC,22,-1.72,-477.8,1793,1946,2481,4095,0.1,0.0,1,34,0.00,1.48,-5.15,0.000,16644,0.000,1.261,1793,2475,3045,3045,4094,0,0,0,0,0,0,26.31,24.87,26.32,10.38,52.00
$GC,49,-1.74,-487.5,1792,2475,3045,4094,0.0,0.2,5,56,0.00,1.35,-0.08,0.000,17414,0.000,0.032,1793,1954,3056,3056,4094,0,0,0,0,0,0,25.98,25.95,25.49,10.51,51.85
$GC,88,-1.74,-487.5,1792,1953,3056,4094,2.4,-9.9,11,95,0.00,1.40,0.00,0.000,260,0.000,0.044,1793,2468,3057,3057,4094,0,0,0,0,0,0,26.18,25.88,26.19,10.52,51.57
$GC,145,-1.74,-487.5,1793,2468,3058,4094,10.5,-14.9,20,152,0.00,1.35,0.00,0.000,1030,0.000,0.028,1793,1938,3058,3058,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.53,51.69
$GC,184,-1.74,-487.5,1792,1938,3059,4094,16.0,-14.3,26,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3059,3059,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.52,50.82
$GC,222,-1.74,-487.5,1792,1938,3060,4094,21.8,-14.9,32,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1939,3060,3060,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.51,51.33
$GC,260,-1.74,-487.5,1792,1938,3061,4095,27.0,-13.1,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3061,3061,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.49,50.11
$GC,297,-1.74,-487.5,1792,1938,3062,4095,31.7,-12.2,44,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3062,3062,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.47,49.64
$GC,335,-1.74,-487.5,1792,1938,3063,4094,36.4,-12.3,50,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3063,3063,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.45,49.52
$GC,373,-1.74,-487.5,1792,1938,3064,4095,41.3,-13.2,56,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.44,48.46
$GC,411,-1.74,-487.5,1792,1938,3064,4095,46.2,-13.2,62,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3065,3065,4095,0,0,0,0,0,0,26.45,26.47,26.47,10.43,48.03
$GC,449,-1.74,-487.5,1792,1938,3065,4095,51.0,-13.1,68,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3066,3066,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.41,48.11
$GC,487,-1.74,-487.5,1792,1938,3066,4095,55.9,-13.1,74,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1938,3067,3067,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.40,47.12
$STATE,516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,516,begin apogee
$GC,523,-0.45,0.0,1792,2106,3067,4095,60.0,-12.8,79,559,4.18,0.00,27.95,1.292,10244,0.054,0.000,2185,2106,2484,2484,4094,0,0,0,0,0,0,26.22,25.37,24.38,10.40,47.04
$STATE,560,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,563,1.74,487.5,2184,2106,2484,4094,62.5,0.0,85,605,7.25,0.00,27.75,1.257,11270,0.033,0.000,2881,2106,1915,1915,4094,0,0,0,0,0,0,25.65,25.76,23.97,10.27,46.37
$GC,637,1.74,487.5,2881,2106,1915,4094,56.4,12.5,97,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2106,1915,1915,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.15,44.72
$GC,675,1.74,487.5,2881,2106,1914,4094,51.6,12.8,103,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2106,1914,1914,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.14,45.47
$GC,713,1.74,487.5,2881,2106,1913,4094,46.9,12.3,109,719,0.00,1.45,0.00,0.000,516,0.000,0.047,2881,1568,1912,1912,4095,0,0,0,0,0,0,25.87,25.58,25.89,10.13,45.07
$GC,781,1.74,487.5,2881,1567,1911,4095,38.2,12.5,120,788,0.00,1.23,0.00,0.000,1030,0.000,0.026,2881,2070,1911,1911,4094,0,0,0,0,0,0,25.82,25.78,25.84,10.13,45.82
$GC,820,1.74,487.5,2881,2069,1910,4094,33.3,13.1,126,827,0.00,1.52,0.00,0.000,260,0.000,0.053,2881,2637,1910,1910,4094,0,0,0,0,0,0,26.08,25.78,26.10,10.14,46.45
$GC,871,1.74,487.5,2881,2637,1908,4094,26.6,13.2,134,877,0.00,1.40,0.00,0.000,1030,0.000,0.026,2881,2082,1908,1908,4094,0,0,0,0,0,0,25.95,25.92,25.97,10.15,47.28
$GC,909,1.74,487.5,2881,2081,1907,4094,21.7,12.3,140,916,0.00,1.33,0.00,0.000,516,0.000,0.050,2881,1572,1906,1906,4094,0,0,0,0,0,0,26.20,25.90,26.21,10.16,47.59
$GC,996,1.74,487.5,2881,1572,1905,4094,11.7,11.8,154,1003,0.00,1.12,0.00,0.000,1030,0.000,0.026,2881,2042,1905,1905,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.20,49.92
$GC,1035,1.74,487.5,2880,2041,1903,4094,7.2,11.4,160,1041,0.00,1.55,0.00,0.000,260,0.000,0.052,2881,2636,1903,1903,4094,0,0,0,0,0,0,26.32,26.01,26.34,10.22,50.90
$STATE,1083,end climb,SURFACE_DEPTH_REACHED
$STATE,1083,begin surface coast
$FINISH,0.3,1.024140
$STATE,1102,end surface coast,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$SM_CCo,1202,0.00,0.000,0,0,1901,502.28
$SM_GC,1.04,27.30,1.77,0.00,0.021,0.029,0.000,230,1952,1901,-6.59,1.28,502.28,0,0,0,0,0,0,26.01,26.11,26.13
$IRIDIUM_FIX,6149.06,-17422.35,090817,185006
$TT8_MAMPS,0.024717,0.103362
$HUMID,52.95
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.97,20.960
$10V_AH,10.45,24.612
$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,44.800,17.800,55.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,452.332,323.837,176.188,248.812,62.991,33.416,364.412,0.000,256.847,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1260.720,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.304,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,14368,171
$CAP_FILE_SIZE,33098,0
$CFSIZE,1024409600,981303296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,211253,6054.748,-17338.498,9,0.8,17,7.1,0.0,240.5,10,4.7