version: 66.13
glider: 401
mission: 22
dive: 789
start: 8 10 117 1 41 58
data:
$ID,401
$MISSION,22
$DIVE,789
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,100817,005801,6055.5122,-17341.6387,6,0.7,23,7.1,0.4,240.0,11,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.1
$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,-0.044740,0.362734
$KALMAN_X,75642.382812,-524.544800,-457.329742,-260370.093750,-81.312286
$KALMAN_Y,-28087.617188,2583.118408,640.070557,210437.187500,-159.905640
$MHEAD_RNG_PITCHd_Wd,345.9,17247,-11.8,-10.000,-15.30,6384
$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,-1.71,-425.2,2394,1951,2362,4092,0.0,0.0,0,18,6.07,0.00,-1.10,0.000,20482,0.023,0.000,1795,1951,2484,2484,4094,0,0,0,0,0,0,26.09,28.83,26.15,10.36,52.24
$GC,22,-1.71,-425.2,1795,1951,2484,4094,0.3,0.0,1,29,0.00,0.00,-4.55,0.000,16390,0.000,0.000,1795,1951,2985,2985,4095,0,0,0,0,0,0,26.32,25.11,26.33,10.38,51.81
$GC,61,-1.81,-487.5,1794,1951,2985,4095,-0.0,0.3,7,68,0.10,0.00,-0.65,0.000,20486,0.082,0.000,1779,1951,3056,3056,4094,0,0,0,0,0,0,26.13,25.58,26.15,10.49,52.24
$GC,100,-1.81,-487.5,1778,1951,3057,4094,1.6,-6.5,13,106,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3057,3057,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.51,52.44
$GC,138,-1.81,-487.5,1777,1951,3058,4095,6.9,-14.2,19,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3058,3058,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.52,51.69
$GC,176,-1.81,-487.5,1778,1951,3059,4094,12.9,-15.5,25,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3059,3059,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.51,51.77
$GC,214,-1.81,-487.5,1779,1951,3060,4095,18.6,-14.7,31,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1951,3060,3060,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.48,51.41
$GC,252,-1.81,-487.5,1778,1951,3061,4095,23.5,-13.2,37,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3061,3061,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.46,51.10
$GC,290,-1.81,-487.5,1778,1951,3062,4094,28.6,-14.0,43,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3062,3062,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.44,49.92
$GC,328,-1.81,-487.5,1778,1951,3063,4094,33.7,-13.3,49,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1951,3063,3063,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.43,49.17
$GC,366,-1.81,-487.5,1778,1951,3064,4094,38.7,-12.9,55,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3064,3064,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.42,48.93
$GC,403,-1.81,-487.5,1778,1951,3065,4095,43.7,-13.1,61,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3064,3064,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.41,48.18
$GC,441,-1.81,-487.5,1778,1951,3066,4094,48.8,-13.4,67,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3066,3066,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.40,48.03
$GC,479,-1.81,-487.5,1778,1951,3066,4094,53.9,-13.3,73,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3066,3066,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.39,47.75
$GC,517,-1.81,-487.5,1778,1951,3067,4094,58.6,-12.0,79,523,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1951,3067,3067,4095,0,0,0,0,0,0,26.55,26.55,26.55,10.38,47.55
$STATE,529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,529,begin apogee
$GC,537,-0.45,0.0,1778,2116,3068,4094,60.3,-12.4,81,573,4.32,0.00,27.95,1.299,10246,0.055,0.000,2185,2116,2484,2484,4094,0,0,0,0,0,0,26.26,25.39,24.40,10.38,46.92
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,577,1.81,487.5,2185,2116,2484,4094,62.9,0.0,87,619,7.53,1.40,27.80,1.263,10500,0.033,0.048,2900,2634,1915,1915,4095,0,0,0,0,0,0,25.62,24.67,23.98,10.26,46.73
$GC,657,1.81,487.5,2899,2633,1914,4095,55.0,14.4,100,664,0.00,1.38,0.00,0.000,1030,0.000,0.025,2900,2098,1914,1914,4094,0,0,0,0,0,0,25.44,25.41,25.46,10.13,45.62
$GC,696,1.81,487.5,2899,2097,1913,4094,49.4,14.0,106,703,0.00,1.40,0.00,0.000,516,0.000,0.050,2900,1570,1914,1914,4094,0,0,0,0,0,0,25.79,25.50,25.80,10.12,46.29
$GC,783,1.81,487.5,2899,1569,1911,4094,37.6,13.5,120,790,0.00,1.27,0.00,0.000,1030,0.000,0.027,2900,2087,1911,1911,4095,0,0,0,0,0,0,25.79,25.77,25.81,10.12,46.10
$GC,822,1.81,487.5,2899,2086,1909,4095,32.6,13.3,126,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2087,1909,1909,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.13,46.96
$GC,860,1.81,487.5,2900,2086,1908,4094,27.5,13.4,132,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2087,1908,1908,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.11,47.16
$GC,898,1.81,487.5,2899,2086,1907,4094,22.6,13.2,138,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2087,1908,1908,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.12,47.04
$GC,936,1.81,487.5,2900,2086,1906,4094,17.8,12.7,144,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2087,1906,1906,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.13,47.36
$GC,974,1.81,487.5,2900,2086,1905,4094,12.9,12.7,150,980,0.00,1.48,0.00,0.000,260,0.000,0.054,2900,2639,1905,1905,4094,0,0,0,0,0,0,26.26,25.95,26.27,10.15,48.58
$GC,1000,1.81,487.5,2899,2639,1904,4094,9.9,11.0,154,1007,0.00,1.38,0.00,0.000,1030,0.000,0.028,2900,2093,1904,1904,4094,0,0,0,0,0,0,26.07,26.03,26.09,10.16,49.09
$GC,1039,1.81,487.5,2899,2093,1903,4094,5.7,10.8,160,1045,0.00,1.38,0.00,0.000,516,0.000,0.052,2900,1566,1903,1903,4094,0,0,0,0,0,0,26.31,26.01,26.32,10.20,50.15
$STATE,1075,end climb,SURFACE_DEPTH_REACHED
$STATE,1075,begin surface coast
$FINISH,0.1,1.024001
$STATE,1094,end surface coast,CONTROL_FINISHED_OK
$STATE,1094,begin surface
$SM_CCo,1194,0.00,0.000,0,0,1901,501.42
$SM_GC,1.02,27.50,0.95,0.00,0.021,0.026,0.000,230,1971,1901,-6.59,-1.37,501.42,0,0,0,0,0,0,26.03,26.15,26.13
$IRIDIUM_FIX,6149.06,-17422.35,090817,234146
$TT8_MAMPS,0.025466,0.109354
$HUMID,53.42
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.98,21.276
$10V_AH,10.44,24.897
$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,45.525,11.375,55.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.372,313.408,179.522,246.792,67.100,33.419,370.317,0.000,254.063,0.000,0.542,0.000
$DEVICE_MAMPS,81.855,62.730,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,14314,169
$CAP_FILE_SIZE,33583,0
$CFSIZE,1024409600,980713472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,020248,6056.138,-17342.471,9,0.9,20,7.1,0.3,248.2,9,4.9