version: 66.13
glider: 401
mission: 22
dive: 909
start: 8 12 117 6 40 25
data:
$ID,401
$MISSION,22
$DIVE,909
$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,19
$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,25
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,63
$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
$GPS1,120817,060023,6112.8237,-17351.3887,5,0.8,20,7.0,0.7,282.8,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-3.4
$GPS2,120817,060023,6112.8237,-17351.3887,5,0.8,20,7.0,0.7,282.8,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.239967,0.340351
$KALMAN_X,66827.890625,-891.848633,-490.998596,-260379.671875,-161.579376
$KALMAN_Y,-47492.515625,1787.588013,464.857971,262872.531250,-29.407349
$MHEAD_RNG_PITCHd_Wd,28.2,22838,-10.6,-10.526,-14.19,7916
$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,-1.70,-487.5,2394,1991,2359,4092,0.0,0.0,0,17,6.05,0.00,-0.60,0.000,20482,0.024,0.000,1799,1993,2478,2478,4094,0,0,0,0,0,0,26.12,28.83,26.16,10.34,52.99
$GC,21,-1.70,-487.5,1799,1992,2478,4094,3.9,0.0,1,28,0.00,0.98,-2.85,0.000,16644,0.000,1.261,1799,2346,3061,3061,4094,0,0,0,0,0,0,26.33,24.82,26.33,10.37,53.03
$GC,139,-1.70,-487.5,1798,2346,3064,4094,19.5,-12.9,20,145,0.00,0.98,0.00,0.000,1030,0.000,0.029,1799,1960,3064,3064,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.50,51.96
$GC,178,-1.70,-487.5,1798,1959,3065,4094,24.4,-12.9,26,184,0.00,1.00,0.00,0.000,260,0.000,0.041,1799,2340,3065,3065,4094,0,0,0,0,0,0,26.40,26.13,26.41,10.47,52.55
$GC,271,-1.70,-487.5,1798,2340,3067,4094,35.3,-12.0,41,278,0.00,0.88,0.00,0.000,1030,0.000,0.028,1799,1987,3067,3067,4095,0,0,0,0,0,0,26.25,26.23,26.28,10.41,50.39
$GC,310,-1.70,-487.5,1798,1987,3068,4095,39.9,-11.6,47,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1987,3067,3067,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.39,49.21
$GC,348,-1.70,-487.5,1798,1987,3069,4095,44.7,-12.1,53,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1987,3069,3069,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.38,48.66
$GC,386,-1.70,-487.5,1798,1987,3070,4095,49.4,-12.2,59,393,0.00,1.17,0.00,0.000,516,0.000,0.050,1800,1523,3070,3070,4095,0,0,0,0,0,0,26.51,26.21,26.53,10.38,48.66
$GC,413,-1.70,-487.5,1798,1522,3070,4095,52.7,-12.2,63,420,0.00,1.00,0.00,0.000,1030,0.000,0.025,1799,1956,3070,3070,4094,0,0,0,0,0,0,26.33,26.30,26.34,10.38,47.63
$GC,452,-1.70,-487.5,1798,1955,3071,4094,57.5,-12.1,69,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1956,3071,3071,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.37,47.48
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,483,-0.45,0.0,1799,2137,3072,4094,60.5,-12.0,73,519,4.10,0.00,28.33,1.306,10244,0.055,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.27,25.38,24.37,10.37,47.28
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,523,1.70,487.5,2185,2137,2484,4094,63.0,0.0,79,565,7.20,0.00,27.80,1.278,11270,0.034,0.000,2870,2138,1915,1915,4094,0,0,0,0,0,0,25.63,25.77,23.94,10.23,46.81
$GC,597,1.70,487.5,2870,2137,1915,4094,56.8,12.0,91,604,0.00,1.12,0.00,0.000,516,0.000,0.042,2870,1714,1915,1915,4094,0,0,0,0,0,0,25.59,25.32,25.60,10.10,45.39
$GC,666,1.70,487.5,2870,1714,1913,4094,48.3,12.1,102,673,0.00,1.02,0.00,0.000,1030,0.000,0.028,2870,2128,1913,1913,4094,0,0,0,0,0,0,25.65,25.62,25.67,10.10,46.06
$GC,705,1.70,487.5,2870,2127,1912,4094,43.5,12.6,108,712,0.00,1.20,0.00,0.000,260,0.000,0.053,2871,2568,1911,1911,4094,0,0,0,0,0,0,25.95,25.64,25.96,10.09,46.81
$GC,738,1.70,487.5,2870,2567,1911,4094,39.1,13.2,113,745,0.00,1.15,0.00,0.000,1030,0.000,0.026,2871,2107,1911,1911,4094,0,0,0,0,0,0,25.82,25.79,25.83,10.09,46.77
$GC,777,1.70,487.5,2870,2107,1910,4094,34.2,12.4,119,784,0.00,1.00,0.00,0.000,516,0.000,0.047,2871,1720,1910,1910,4094,0,0,0,0,0,0,26.08,25.79,26.08,10.09,46.45
$GC,852,1.70,487.5,2870,1719,1907,4094,25.7,10.9,131,859,0.00,0.95,0.00,0.000,1030,0.000,0.028,2871,2110,1908,1908,4095,0,0,0,0,0,0,25.97,25.94,25.99,10.08,47.63
$GC,892,1.73,506.7,2870,2110,1907,4095,21.5,10.3,137,899,0.00,1.23,2.58,0.233,8452,0.000,0.050,2871,2567,1892,1892,4094,0,0,0,0,0,0,26.22,25.84,24.98,10.11,47.83
$GC,1004,1.88,607.9,2870,2566,1890,4094,12.5,9.2,155,1018,0.45,1.08,6.82,0.598,11270,0.032,0.026,2927,2118,1773,1773,4094,0,0,0,0,0,0,26.10,26.09,25.12,10.18,51.57
$GC,1050,1.88,607.9,2926,2114,1772,4094,7.5,11.1,162,1057,0.00,1.00,0.00,0.000,516,0.000,0.047,2927,1732,1772,1772,4094,0,0,0,0,0,0,26.27,25.98,26.28,10.17,52.40
$STATE,1111,end climb,SURFACE_DEPTH_REACHED
$STATE,1111,begin surface coast
$FINISH,0.6,1.023974
$STATE,1118,end surface coast,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$SM_CCo,1218,0.00,0.000,0,0,1770,613.90
$SM_GC,0.78,27.98,0.55,0.00,0.027,0.044,0.000,238,1949,1770,-6.55,-1.46,613.90,0,0,0,0,0,0,26.12,26.08,26.16
$IRIDIUM_FIX,6149.06,-17422.35,120817,044316
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.15
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.94,24.817
$10V_AH,10.42,28.074
$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,45.775,17.300,65.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,461.813,345.365,161.497,250.778,62.857,33.419,342.921,0.000,259.748,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1260.720,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,14370,173
$CAP_FILE_SIZE,31977,0
$CFSIZE,1024409600,974831616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,070158,6113.527,-17351.203,6,0.8,38,7.0,1.5,280.6,10,4.8