version: 66.13
glider: 401
mission: 22
dive: 786
start: 8 10 117 0 29 33
data:
$ID,401
$MISSION,22
$DIVE,786
$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,24
$R_STBD_OVSHOOT,37
$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
$GPS1,090817,234614,6055.0986,-17340.4707,6,0.9,20,7.1,0.3,246.3,9,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.3
$GPS2,090817,234614,6055.0986,-17340.4707,6,0.9,20,7.1,0.3,246.3,9,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.073424,0.374896
$KALMAN_X,76262.156250,-362.091339,-325.408905,-260178.265625,-54.660614
$KALMAN_Y,-27646.625000,2629.963623,678.141541,209144.828125,-182.901794
$MHEAD_RNG_PITCHd_Wd,341.8,18393,-11.1,-10.000,-14.67,7099
$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,-473.9,2391,1978,2366,4092,0.0,0.0,0,20,6.05,0.00,-3.50,0.000,20482,0.023,0.000,1790,1979,2752,2752,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.35,52.91
$GC,23,-1.72,-473.9,1790,1979,2752,4094,0.0,0.0,1,33,0.00,0.00,-2.65,0.000,16390,0.000,0.000,1790,1979,3040,3040,4094,0,0,0,0,0,0,26.41,25.68,26.38,10.43,52.95
$GC,69,-1.72,-473.9,1789,1979,3041,4094,3.3,-10.4,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1979,3040,3040,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.50,52.99
$GC,113,-1.72,-473.9,1789,1979,3042,4095,10.0,-15.7,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1979,3042,3042,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.50,52.99
$GC,158,-1.72,-473.9,1789,1979,3043,4095,16.7,-14.3,19,167,0.00,1.33,0.00,0.000,260,0.000,0.047,1790,2471,3043,3043,4094,0,0,0,0,0,0,26.40,26.11,26.41,10.48,52.55
$GC,191,-1.72,-473.9,1789,2471,3043,4094,20.7,-12.0,23,199,0.00,1.33,0.00,0.000,1030,0.000,0.028,1790,1948,3044,3044,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.46,51.57
$GC,235,-1.72,-473.9,1789,1948,3045,4095,26.4,-12.9,29,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1948,3045,3045,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.43,51.14
$GC,281,-1.72,-473.9,1789,1948,3046,4094,32.3,-13.0,35,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1948,3046,3046,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.42,49.72
$GC,328,-1.72,-473.9,1789,1948,3047,4095,38.0,-12.8,41,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1948,3047,3047,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.40,48.74
$GC,372,-1.72,-473.9,1789,1948,3048,4094,43.9,-12.9,47,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1948,3048,3048,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.40,48.46
$GC,417,-1.72,-473.9,1789,1948,3049,4095,49.8,-13.2,53,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1948,3050,3050,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.39,48.38
$GC,462,-1.72,-473.9,1789,1948,3050,4095,55.6,-12.8,59,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1948,3051,3051,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.38,48.18
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,505,-0.45,0.0,1789,2106,3052,4094,60.4,-12.4,64,541,4.22,0.00,27.25,1.288,10244,0.056,0.000,2185,2106,2484,2484,4094,0,0,0,0,0,0,26.28,25.44,24.44,10.38,47.55
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,545,1.72,473.9,2185,2106,2484,4094,63.1,0.0,68,589,7.25,1.40,26.85,1.261,10500,0.034,0.052,2881,2629,1937,1937,4094,0,0,0,0,0,0,25.60,25.56,24.01,10.26,47.16
$GC,633,1.72,473.9,2880,2628,1935,4094,55.3,13.5,79,643,0.00,1.35,0.45,0.005,9222,0.000,0.025,2881,2100,1935,1935,4094,0,0,0,0,0,0,25.49,25.53,25.50,10.13,45.31
$GC,679,1.72,473.9,2880,2100,1934,4094,49.3,12.6,85,689,0.00,1.38,0.00,0.000,516,0.000,0.050,2881,1575,1934,1934,4094,0,0,0,0,0,0,25.86,25.56,25.86,10.13,45.47
$GC,771,1.72,473.9,2880,1574,1931,4094,37.4,12.9,98,780,0.00,1.23,0.00,0.000,1030,0.000,0.027,2881,2075,1931,1931,4094,0,0,0,0,0,0,25.84,25.82,25.90,10.12,46.53
$GC,817,1.72,473.9,2880,2075,1930,4094,31.5,12.9,104,826,0.00,1.52,0.00,0.000,260,0.000,0.054,2881,2639,1930,1930,4094,0,0,0,0,0,0,26.13,25.85,26.13,10.12,46.61
$GC,863,1.72,473.9,2880,2638,1928,4094,25.5,13.0,110,872,0.00,1.40,0.00,0.000,1030,0.000,0.028,2881,2084,1928,1928,4094,0,0,0,0,0,0,25.96,25.93,26.01,10.13,46.92
$GC,909,1.72,473.9,2880,2084,1927,4094,19.9,11.7,116,918,0.00,1.38,0.00,0.000,516,0.000,0.053,2881,1557,1926,1926,4095,0,0,0,0,0,0,26.23,25.92,26.25,10.13,48.07
$GC,974,1.72,473.9,2880,1557,1925,4095,12.0,11.9,125,983,0.00,1.27,0.00,0.000,1030,0.000,0.027,2881,2083,1925,1925,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.16,48.81
$GC,1020,1.72,473.9,2881,2082,1924,4094,7.3,10.4,131,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2083,1924,1924,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,49.52
$GC,1065,1.72,473.9,2880,2083,1923,4094,2.6,10.7,137,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2083,1923,1923,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.21,50.35
$STATE,1081,end climb,SURFACE_DEPTH_REACHED
$STATE,1081,begin surface coast
$FINISH,0.1,1.013884
$STATE,1104,end surface coast,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$SM_CCo,1203,0.00,0.000,0,0,1922,483.39
$SM_GC,1.16,27.33,0.35,0.00,0.023,0.043,0.000,230,1934,1922,-6.59,1.14,483.39,0,0,0,0,0,0,26.08,26.17,26.17
$IRIDIUM_FIX,6149.06,-17422.35,090817,233608
$TT8_MAMPS,0.025466,0.243425
$HUMID,52.16
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.01,21.196
$10V_AH,10.20,24.836
$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,44.850,15.275,54.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.085,59.949,148.998,591.798,65.553,33.415,389.921,0.000,346.755,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,53.550,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.656,385.745,305.378,452.527,589.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,14371,142
$CAP_FILE_SIZE,30354,0
$CFSIZE,1024409600,980877312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,005043,6055.526,-17341.490,8,0.8,30,7.1,0.3,225.2,10,5.0