version: 66.13
glider: 401
mission: 22
dive: 787
start: 8 10 117 0 59 8
data:
$ID,401
$MISSION,22
$DIVE,787
$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,37
$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
$GPS1,100817,005043,6055.5264,-17341.4902,8,0.8,30,7.1,0.3,225.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.0
$GPS2,100817,005801,6055.5122,-17341.6387,6,0.7,23,7.1,0.4,240.0,11,4.3
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.024115,0.396315
$KALMAN_X,75557.484375,-474.687653,-435.833313,-260338.453125,-156.320404
$KALMAN_Y,-27503.863281,2690.345459,739.904175,209631.671875,-98.261414
$MHEAD_RNG_PITCHd_Wd,349.4,17247,-10.5,-10.000,-14.14,7793
$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,-1.68,-487.5,230,1934,1922,4092,0.0,0.0,0,18,7.22,0.00,0.00,0.000,2049,0.091,0.000,854,1935,1922,1922,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.30,51.49
$GC,21,-1.68,-487.5,854,1934,1922,4094,0.7,0.0,1,46,10.10,1.55,-10.27,0.000,18692,0.056,1.270,1794,2484,3057,3057,4095,0,0,0,0,0,0,26.01,24.77,26.08,10.31,50.59
$GC,54,-1.68,-487.5,1793,2483,3057,4095,0.0,1.5,6,61,0.00,1.33,0.00,0.000,1030,0.000,0.032,1794,1974,3057,3057,4094,0,0,0,0,0,0,26.01,25.96,26.03,10.56,51.45
$GC,93,-1.68,-487.5,1793,1973,3057,4094,1.0,-4.4,12,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1973,3057,3057,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.56,50.43
$GC,131,-1.68,-487.5,1793,1973,3058,4095,6.0,-14.3,18,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1973,3058,3058,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.56,49.80
$GC,169,-1.68,-487.5,1793,1973,3059,4095,12.1,-16.6,24,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1973,3060,3060,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.56,49.92
$GC,207,-1.68,-487.5,1793,1973,3060,4094,18.1,-16.1,30,213,0.00,1.38,0.00,0.000,260,0.000,0.046,1794,2482,3060,3060,4095,0,0,0,0,0,0,26.38,26.08,26.39,10.54,49.21
$GC,239,-1.68,-487.5,1793,2482,3061,4095,22.4,-12.7,35,246,0.00,1.48,0.00,0.000,1030,0.000,0.028,1794,1879,3061,3061,4095,0,0,0,0,0,0,26.21,26.14,26.23,10.51,48.54
$GC,278,-1.68,-487.5,1793,1879,3062,4095,27.4,-13.4,41,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1879,3062,3062,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.49,48.07
$GC,316,-1.68,-487.5,1793,1879,3063,4095,32.5,-13.3,47,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1879,3063,3063,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.47,47.16
$GC,354,-1.68,-487.5,1793,1879,3063,4094,37.7,-13.4,53,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1879,3064,3064,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,46.49
$GC,392,-1.68,-487.5,1793,1879,3065,4095,42.8,-13.2,59,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1879,3065,3065,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.44,46.10
$GC,430,-1.68,-487.5,1793,1879,3066,4094,47.8,-13.1,65,437,0.00,1.58,0.00,0.000,260,0.000,0.044,1794,2482,3066,3066,4094,0,0,0,0,0,0,26.51,26.20,26.52,10.43,46.37
$GC,493,-1.68,-487.5,1793,2482,3067,4094,55.8,-12.5,75,500,0.00,1.45,0.00,0.000,1030,0.000,0.028,1794,1905,3067,3067,4095,0,0,0,0,0,0,26.37,26.29,26.39,10.41,45.98
$STATE,529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,529,begin apogee
$GC,536,-0.45,0.0,1794,2111,3068,4095,60.5,-12.1,81,573,4.15,0.00,27.95,1.296,10244,0.054,0.000,2185,2111,2484,2484,4094,0,0,0,0,0,0,26.27,25.40,24.40,10.41,45.58
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,576,1.68,487.5,2184,2111,2484,4094,63.1,0.0,87,619,7.10,1.40,27.83,1.268,10500,0.033,0.051,2870,2634,1915,1915,4094,0,0,0,0,0,0,25.57,25.51,23.98,10.29,44.95
$GC,651,1.68,487.5,2869,2633,1915,4094,57.1,12.4,99,658,0.00,1.35,0.00,0.000,1030,0.000,0.025,2870,2104,1914,1914,4094,0,0,0,0,0,0,25.41,25.38,25.44,10.15,44.17
$GC,690,1.68,487.5,2869,2103,1913,4094,52.4,11.6,105,696,0.00,1.40,0.00,0.000,516,0.000,0.048,2870,1574,1913,1913,4094,0,0,0,0,0,0,25.77,25.48,25.78,10.15,44.32
$GC,782,1.68,487.5,2869,1574,1911,4094,41.7,11.4,120,789,0.00,1.25,0.00,0.000,1030,0.000,0.026,2870,2083,1911,1911,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.14,45.15
$GC,823,1.68,487.5,2869,2083,1910,4094,37.3,11.2,126,830,0.00,1.50,0.00,0.000,260,0.000,0.052,2870,2637,1910,1910,4095,0,0,0,0,0,0,26.08,25.77,26.09,10.14,45.70
$GC,868,1.68,487.5,2869,2637,1908,4095,31.9,11.5,133,874,0.00,1.38,0.00,0.000,1030,0.000,0.026,2870,2090,1908,1908,4095,0,0,0,0,0,0,25.91,25.90,25.96,10.14,45.94
$GC,907,1.68,487.5,2869,2090,1907,4095,27.7,10.8,139,913,0.00,1.35,0.00,0.000,516,0.000,0.050,2870,1572,1907,1907,4094,0,0,0,0,0,0,26.19,25.89,26.20,10.14,46.77
$GC,969,1.68,487.5,2869,1572,1906,4094,20.8,10.8,149,976,0.00,1.25,0.00,0.000,1030,0.000,0.026,2870,2086,1906,1906,4094,0,0,0,0,0,0,26.05,26.01,26.06,10.15,47.59
$GC,1008,1.68,487.5,2869,2085,1905,4094,16.7,10.6,155,1015,0.00,1.48,0.00,0.000,260,0.000,0.053,2870,2636,1905,1905,4094,0,0,0,0,0,0,26.29,25.98,26.30,10.17,47.59
$GC,1059,1.74,526.8,2869,2636,1904,4094,11.9,9.5,163,1067,0.00,1.33,3.40,0.360,9222,0.000,0.027,2870,2102,1869,1869,4094,0,0,0,0,0,0,26.13,26.10,25.22,10.19,48.93
$GC,1099,1.86,601.9,2869,2102,1868,4094,8.3,9.0,169,1113,0.40,1.33,5.55,0.512,10756,0.042,0.045,2916,1570,1780,1780,4094,0,0,0,0,0,0,26.10,25.71,25.20,10.21,49.92
$STATE,1161,end climb,FINISH_DEPTH_REACHED
$STATE,1161,begin subsurface finish
$FINISH1,1.4,1.024095,105
$GC,1169,0.16,104.9,2915,2107,1778,4094,1.4,11.1,179,1189,5.28,1.45,-4.78,0.000,20996,0.021,1.278,2391,1576,2368,2368,4094,0,0,0,0,0,0,26.11,24.85,26.15,10.21,51.33
$FINISH2,0.4
$STATE,1190,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1190,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,090817,234146
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.16
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.98,21.235
$10V_AH,10.35,24.854
$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,34.250,27.025,64.725,0.000,0.000,22.532,17.823,235.787,0.000,0.000,24.952,480.542,271.752,177.536,553.095,163.180,33.454,385.884,0.000,274.060,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1278.315,1295.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,14214,182
$CAP_FILE_SIZE,39771,0
$CFSIZE,1024409600,980811776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100817,005801,6055.512,-17341.639,6,0.7,23,7.1,0.4,240.0,11,4.3