version: 66.13
glider: 401
mission: 22
dive: 780
start: 8 9 117 22 1 46
data:
$ID,401
$MISSION,22
$DIVE,780
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,090817,211932,6054.7026,-17338.5469,6,0.7,20,7.1,0.9,214.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-4.3
$GPS2,090817,211932,6054.7026,-17338.5469,6,0.7,20,7.1,0.9,214.7,11,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.180156,0.338633
$KALMAN_X,76964.625000,-117.951859,-108.620529,-259519.953125,58.971344
$KALMAN_Y,-26282.328125,2824.653320,896.602478,206633.187500,-152.020447
$MHEAD_RNG_PITCHd_Wd,324.9,19863,-11.0,-10.000,-14.61,7169
$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,-478.6,2391,1953,2371,4092,0.0,0.0,0,21,6.05,0.00,-4.00,0.000,20482,0.023,0.000,1792,1953,2812,2812,4095,0,0,0,0,0,0,26.20,28.83,26.25,10.36,52.83
$GC,24,-1.72,-478.6,1792,1950,2812,4095,0.1,0.0,1,33,0.00,0.00,-2.10,0.000,16390,0.000,0.000,1792,1950,3043,3043,4094,0,0,0,0,0,0,26.41,25.70,26.40,10.45,52.75
$GC,69,-1.72,-478.6,1792,1950,3044,4094,3.2,-10.6,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1950,3044,3044,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.51,52.95
$GC,113,-1.72,-478.6,1792,1950,3044,4094,9.7,-15.2,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1950,3044,3044,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.52,52.79
$GC,158,-1.72,-478.6,1792,1950,3046,4094,16.0,-13.5,19,167,0.00,1.42,0.00,0.000,260,0.000,0.048,1793,2481,3046,3046,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.51,52.59
$GC,191,-1.72,-478.6,1791,2481,3046,4095,20.5,-14.0,23,200,0.00,1.35,0.00,0.000,1030,0.000,0.029,1793,1948,3046,3046,4095,0,0,0,0,0,0,26.22,26.18,26.23,10.49,51.73
$GC,237,-1.72,-478.6,1792,1948,3048,4095,26.3,-12.4,29,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1948,3048,3048,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.45,51.26
$GC,282,-1.72,-478.6,1792,1948,3049,4094,31.8,-12.1,35,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1948,3049,3049,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.43,49.68
$GC,328,-1.72,-478.6,1792,1947,3050,4095,37.6,-13.1,41,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1948,3050,3050,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.42,49.05
$GC,373,-1.72,-478.6,1792,1948,3052,4095,43.2,-12.0,47,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1948,3051,3051,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.41,48.42
$GC,419,-1.72,-478.6,1792,1948,3052,4095,48.6,-11.9,53,427,0.00,1.42,0.00,0.000,260,0.000,0.047,1792,2477,3052,3052,4095,0,0,0,0,0,0,26.55,26.25,26.56,10.39,47.79
$GC,470,-1.72,-478.6,1791,2477,3053,4095,54.8,-12.4,60,480,0.00,1.33,0.00,0.000,1030,0.000,0.028,1792,1949,3053,3053,4094,0,0,0,0,0,0,26.36,26.32,26.41,10.39,47.08
$STATE,516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,516,begin apogee
$GC,522,-0.45,0.0,1792,2117,3054,4094,60.3,-11.8,66,558,4.20,0.00,27.30,1.294,10244,0.057,0.000,2184,2117,2483,2483,4094,0,0,0,0,0,0,26.30,25.45,24.46,10.38,47.40
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,562,1.72,478.6,2184,2116,2484,4094,63.1,0.0,70,607,7.22,1.38,27.23,1.268,10500,0.034,0.052,2879,2629,1926,1926,4094,0,0,0,0,0,0,25.62,25.56,24.02,10.26,47.00
$GC,650,1.72,478.6,2879,2629,1925,4094,55.3,13.5,81,659,0.00,1.35,0.00,0.000,1030,0.000,0.025,2880,2101,1924,1924,4094,0,0,0,0,0,0,25.49,25.46,25.52,10.13,45.27
$GC,696,1.72,478.6,2879,2101,1923,4094,49.2,13.1,87,705,0.00,1.40,0.00,0.000,516,0.000,0.049,2880,1572,1923,1923,4094,0,0,0,0,0,0,25.85,25.56,25.86,10.12,45.55
$GC,775,1.72,478.6,2879,1572,1921,4094,38.9,13.0,98,784,0.00,1.25,0.00,0.000,1030,0.000,0.028,2880,2081,1921,1921,4094,0,0,0,0,0,0,25.83,25.82,25.84,10.12,45.74
$GC,821,1.72,478.6,2879,2081,1920,4094,33.1,12.9,104,830,0.00,1.50,0.00,0.000,260,0.000,0.054,2880,2634,1919,1919,4094,0,0,0,0,0,0,26.10,25.79,26.12,10.12,46.81
$GC,880,1.72,478.6,2880,2634,1918,4094,25.3,13.4,112,889,0.00,1.35,0.00,0.000,1030,0.000,0.027,2880,2096,1918,1918,4094,0,0,0,0,0,0,25.97,25.95,25.99,10.12,46.81
$GC,926,1.72,478.6,2879,2095,1917,4094,19.4,12.3,118,935,0.00,1.38,0.00,0.000,516,0.000,0.050,2880,1570,1916,1916,4094,0,0,0,0,0,0,26.23,25.93,26.25,10.14,47.83
$GC,1019,1.72,478.6,2879,1569,1914,4094,9.2,11.2,131,1028,0.00,1.20,0.00,0.000,1030,0.000,0.027,2880,2068,1914,1914,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.20,50.19
$GC,1066,1.72,478.6,2879,2067,1913,4094,4.2,10.5,137,1076,0.00,1.52,0.00,0.000,260,0.000,0.054,2880,2635,1913,1913,4095,0,0,0,0,0,0,26.36,26.07,26.37,10.21,50.94
$STATE,1083,end climb,SURFACE_DEPTH_REACHED
$STATE,1084,begin surface coast
$FINISH,0.4,1.024143
$STATE,1105,end surface coast,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$SM_CCo,1204,0.00,0.000,0,0,1911,492.84
$SM_GC,1.02,27.17,1.77,0.00,0.021,0.026,0.000,231,1949,1911,-6.59,1.05,492.84,0,0,0,0,0,0,26.09,26.13,26.17
$IRIDIUM_FIX,6149.06,-17422.35,090817,200413
$TT8_MAMPS,0.024717,0.246421
$HUMID,52.12
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.02,21.035
$10V_AH,10.20,24.692
$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,44.650,20.375,54.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,403.027,59.933,146.154,593.623,63.431,33.419,382.121,0.000,347.911,0.000,0.545,0.000
$DEVICE_MAMPS,56.610,53.550,1293.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.831,385.752,305.349,452.544,590.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,14422,142
$CAP_FILE_SIZE,30193,0
$CFSIZE,1024409600,981172224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,222312,6054.865,-17339.281,35,0.9,46,7.1,0.2,249.3,9,3.0