version: 66.13
glider: 401
mission: 22
dive: 781
start: 8 9 117 22 31 20
data:
$ID,401
$MISSION,22
$DIVE,781
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,090817,222312,6054.8652,-17339.2812,35,0.9,46,7.1,0.2,249.3,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-39.5
$GPS2,090817,223013,6054.8159,-17339.3926,6,0.8,13,7.1,0.0,224.2,10,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.062878,0.384102
$KALMAN_X,76596.718750,-196.120026,-186.970612,-259782.812500,-76.580399
$KALMAN_Y,-26532.388672,2853.076904,919.886902,207035.843750,-198.393066
$MHEAD_RNG_PITCHd_Wd,343.6,19307,-10.8,-10.000,-14.41,7426
$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,-1.71,-487.5,230,1948,1910,4092,0.0,0.0,0,18,7.25,0.00,0.00,0.000,2049,0.096,0.000,851,1949,1911,1911,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.31,50.51
$GC,21,-1.71,-487.5,851,1948,1911,4094,0.7,0.0,1,45,9.95,0.00,-10.35,0.000,18438,0.050,0.000,1783,1948,3055,3055,4095,0,0,0,0,0,0,26.00,25.01,26.06,10.31,51.02
$GC,78,-1.71,-487.5,1782,1948,3055,4095,1.0,-3.6,10,84,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1949,3054,3054,4095,0,0,0,0,0,0,26.26,26.28,26.27,10.56,50.55
$GC,116,-1.71,-487.5,1783,1948,3056,4095,5.7,-13.2,16,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1949,3056,3056,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.56,50.47
$GC,153,-1.71,-487.5,1783,1948,3057,4095,11.6,-15.3,22,160,0.00,1.45,0.00,0.000,260,0.000,0.046,1783,2485,3057,3057,4094,0,0,0,0,0,0,26.34,26.03,26.35,10.56,49.52
$GC,198,-1.71,-487.5,1783,2484,3058,4094,18.3,-15.3,29,205,0.00,1.35,0.00,0.000,1030,0.000,0.026,1784,1948,3059,3059,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.55,49.92
$GC,237,-1.71,-487.5,1783,1948,3059,4095,23.7,-13.8,35,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1948,3060,3060,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.51,48.66
$GC,275,-1.71,-487.5,1783,1948,3060,4094,28.6,-13.2,41,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1948,3060,3060,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.49,47.95
$GC,313,-1.71,-487.5,1783,1948,3062,4095,33.5,-12.7,47,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1948,3062,3062,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.47,47.40
$GC,351,-1.71,-487.5,1783,1948,3062,4095,38.5,-13.6,53,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1948,3062,3062,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.45,46.85
$GC,389,-1.71,-487.5,1783,1948,3062,4094,43.6,-13.6,59,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1948,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.44,45.90
$GC,427,-1.71,-487.5,1783,1948,3064,4095,48.6,-13.6,65,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1948,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.43,45.78
$GC,465,-1.71,-487.5,1783,1948,3064,4095,53.7,-13.8,71,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1948,3065,3065,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.42,46.02
$GC,503,-1.71,-487.5,1783,1948,3066,4094,58.5,-12.9,77,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1948,3066,3066,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.40,45.15
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,514,begin apogee
$GC,520,-0.45,0.0,1783,2115,3066,4095,60.2,-12.8,79,556,4.25,0.00,27.83,1.285,10244,0.054,0.000,2186,2115,2484,2484,4094,0,0,0,0,0,0,26.26,25.41,24.42,10.41,45.43
$STATE,557,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,560,1.71,487.5,2186,2115,2484,4094,62.8,0.0,85,602,7.15,0.00,27.70,1.255,11270,0.034,0.000,2876,2115,1916,1916,4094,0,0,0,0,0,0,25.65,25.79,24.01,10.28,44.95
$GC,634,1.71,487.5,2875,2115,1915,4094,56.6,11.9,97,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2115,1915,1915,4094,0,0,0,0,0,0,25.61,25.62,25.62,10.16,43.77
$GC,672,1.71,487.5,2875,2115,1914,4094,51.9,12.3,103,679,0.00,1.48,0.00,0.000,516,0.000,0.047,2876,1570,1914,1914,4094,0,0,0,0,0,0,25.77,25.49,25.78,10.16,43.93
$GC,753,1.71,487.5,2875,1569,1911,4094,42.0,12.5,116,759,0.00,1.17,0.00,0.000,1030,0.000,0.025,2876,2053,1911,1911,4094,0,0,0,0,0,0,25.78,25.75,25.81,10.15,44.92
$GC,792,1.71,487.5,2875,2053,1910,4094,37.3,12.1,122,798,0.00,1.55,0.00,0.000,260,0.000,0.051,2876,2635,1911,1911,4094,0,0,0,0,0,0,26.06,25.75,26.07,10.14,45.47
$GC,854,1.71,487.5,2875,2634,1908,4094,29.6,12.3,132,861,0.00,1.45,0.00,0.000,1030,0.000,0.026,2876,2061,1908,1908,4094,0,0,0,0,0,0,25.98,25.91,26.01,10.14,45.86
$GC,893,1.71,487.5,2875,2061,1907,4094,24.8,12.4,138,900,0.00,1.27,0.00,0.000,516,0.000,0.050,2876,1569,1907,1907,4094,0,0,0,0,0,0,26.20,25.89,26.21,10.14,46.06
$GC,992,1.71,487.5,2875,1569,1905,4094,13.8,10.7,154,998,0.00,1.12,0.00,0.000,1030,0.000,0.026,2876,2043,1905,1905,4094,0,0,0,0,0,0,26.10,26.07,26.11,10.19,48.42
$GC,1031,1.72,489.9,2875,2043,1903,4094,9.9,10.0,160,1037,0.00,1.55,0.00,0.000,260,0.000,0.051,2876,2631,1903,1903,4094,0,0,0,0,0,0,26.33,26.02,26.34,10.20,49.80
$GC,1105,1.72,489.9,2875,2631,1901,4094,2.4,10.1,172,1112,0.00,1.45,0.00,0.000,1030,0.000,0.027,2876,2053,1901,1901,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.23,51.06
$STATE,1117,end climb,FINISH_DEPTH_REACHED
$STATE,1117,begin subsurface finish
$FINISH1,0.8,1.024131,102
$GC,1125,0.15,102.3,2875,2115,1901,4094,0.8,10.8,174,1139,4.85,0.00,-4.05,0.000,20998,0.024,0.000,2392,2118,2370,2370,4094,0,0,0,0,0,0,26.17,25.14,26.22,10.24,51.65
$FINISH2,0.2
$STATE,1140,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1140,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,090817,211459
$TT8_MAMPS,0.025466,0.159537
$HUMID,51.92
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,24.01,21.072
$10V_AH,10.36,24.709
$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,33.450,14.350,55.525,0.000,0.000,22.744,15.943,235.652,0.000,0.000,14.965,460.539,265.763,164.172,528.550,159.926,33.452,364.847,0.000,265.462,0.000,0.542,0.000
$DEVICE_MAMPS,96.390,84.150,1285.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,14311,176
$CAP_FILE_SIZE,36294,0
$CFSIZE,1024409600,981106688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,223013,6054.816,-17339.393,6,0.8,13,7.1,0.0,224.2,10,4.9