version: 66.13
glider: 401
mission: 22
dive: 732
start: 8 9 117 2 28 1
data:
$ID,401
$MISSION,22
$DIVE,732
$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,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$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
$GPS1,090817,014437,6043.8647,-17338.0371,6,0.7,14,7.1,0.0,328.8,12,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.7
$GPS2,090817,014437,6043.8647,-17338.0371,6,0.7,14,7.1,0.0,328.8,12,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.099948,0.396146
$KALMAN_X,66837.984375,-551.083984,-239.617584,-248346.625000,-9.770020
$KALMAN_Y,-28446.236328,1658.863281,1043.287598,189749.281250,-39.686523
$MHEAD_RNG_PITCHd_Wd,338.7,38665,-10.0,-10.000,-13.75,8353
$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,-1.64,-487.5,2395,1948,2365,4092,0.0,0.0,0,21,5.93,0.00,-4.32,0.000,20482,0.026,0.000,1815,1948,2842,2842,4095,0,0,0,0,0,0,26.19,28.83,26.20,10.30,52.63
$GC,24,-1.64,-487.5,1815,1948,2843,4095,0.1,0.0,1,34,0.00,0.00,-1.95,0.000,16390,0.000,0.000,1816,1949,3052,3052,4094,0,0,0,0,0,0,26.38,25.63,26.39,10.40,52.48
$GC,70,-1.64,-487.5,1815,1948,3052,4094,3.4,-11.7,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,1949,3052,3052,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.45,52.48
$GC,114,-1.64,-487.5,1814,1949,3053,4094,10.2,-15.1,13,124,0.00,1.35,0.00,0.000,516,0.000,0.052,1815,1424,3053,3053,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.44,51.92
$GC,147,-1.64,-487.5,1815,1423,3054,4095,14.6,-13.4,17,157,0.00,1.27,0.00,0.000,1030,0.000,0.027,1815,1952,3054,3054,4095,0,0,0,0,0,0,26.14,26.15,26.16,10.42,51.53
$GC,193,-1.64,-487.5,1814,1951,3055,4095,20.7,-13.6,23,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,1952,3056,3056,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.41,51.65
$GC,238,-1.64,-487.5,1815,1952,3056,4094,26.7,-13.3,29,248,0.00,1.42,0.00,0.000,260,0.000,0.049,1815,2485,3056,3056,4094,0,0,0,0,0,0,26.40,26.10,26.41,10.40,51.33
$GC,271,-1.64,-487.5,1814,2484,3057,4094,31.0,-12.9,33,281,0.00,1.33,-0.03,0.000,17414,0.000,0.029,1815,1960,3076,3076,4095,0,0,0,0,0,0,26.20,26.17,25.70,10.39,50.15
$GC,319,-1.64,-487.5,1814,1959,3077,4095,37.0,-13.1,39,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,1959,3077,3077,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.39,50.11
$GC,366,-1.64,-487.5,1814,1959,3078,4095,43.4,-13.7,45,375,0.00,1.42,0.00,0.000,516,0.000,0.053,1815,1411,3078,3078,4094,0,0,0,0,0,0,26.34,26.02,26.35,10.38,49.29
$GC,413,-1.64,-487.5,1814,1411,3079,4094,49.4,-12.7,51,423,0.00,1.27,0.00,0.000,1030,0.000,0.027,1815,1944,3079,3079,4095,0,0,0,0,0,0,26.15,26.14,26.18,10.38,48.70
$GC,461,-1.64,-487.5,1815,1943,3080,4095,55.1,-11.9,57,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,1943,3080,3080,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.37,48.62
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,512,-0.45,0.0,1814,2104,3081,4095,60.6,-11.8,63,548,3.97,0.00,28.85,1.292,10244,0.055,0.000,2184,2104,2484,2484,4094,0,0,0,0,0,0,26.15,25.27,24.29,10.37,48.26
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,552,1.64,487.5,2184,2104,2483,4094,63.3,0.0,67,597,7.07,1.45,27.73,1.265,10756,0.035,0.046,2854,1562,1920,1920,4094,0,0,0,0,0,0,25.45,25.40,23.88,10.23,47.24
$GC,635,1.64,487.5,2854,1563,1920,4094,57.1,11.1,77,645,0.00,1.35,0.12,0.003,9222,0.000,0.027,2854,2098,1920,1920,4095,0,0,0,0,0,0,25.38,25.35,25.40,10.11,46.18
$GC,683,1.64,487.5,2853,2099,1919,4095,51.7,11.5,83,692,0.00,1.48,0.00,0.000,260,0.000,0.053,2854,2639,1919,1919,4094,0,0,0,0,0,0,25.76,25.46,25.77,10.10,46.33
$GC,735,1.64,487.5,2854,2638,1918,4094,45.1,12.3,90,744,0.00,1.40,0.00,0.000,1030,0.000,0.028,2854,2089,1918,1918,4094,0,0,0,0,0,0,25.68,25.66,25.71,10.10,46.61
$GC,781,1.64,487.5,2854,2088,1917,4094,39.7,11.5,96,791,0.00,1.38,0.00,0.000,516,0.000,0.050,2854,1565,1917,1917,4094,0,0,0,0,0,0,25.98,25.67,25.99,10.11,46.92
$GC,846,1.64,487.5,2853,1564,1915,4094,32.6,10.9,105,857,0.00,1.33,0.03,0.005,9222,0.000,0.028,2854,2100,1915,1915,4094,0,0,0,0,0,0,25.87,25.84,25.89,10.11,47.04
$GC,895,1.64,487.5,2853,2099,1914,4094,27.4,11.4,111,904,0.00,1.45,0.00,0.000,260,0.000,0.056,2854,2638,1914,1914,4094,0,0,0,0,0,0,26.15,25.83,26.15,10.11,47.87
$GC,947,1.64,487.5,2853,2637,1912,4094,21.1,11.9,118,956,0.00,1.35,0.00,0.000,1030,0.000,0.027,2854,2100,1912,1912,4095,0,0,0,0,0,0,26.01,25.96,26.00,10.12,48.18
$GC,993,1.64,487.5,2853,2099,1911,4095,15.9,11.0,124,1002,0.00,1.38,0.00,0.000,516,0.000,0.051,2854,1574,1911,1911,4095,0,0,0,0,0,0,26.25,25.94,26.26,10.12,48.50
$GC,1078,1.65,493.4,2854,1574,1909,4095,6.8,9.9,136,1087,0.00,1.27,0.00,0.000,1030,0.000,0.027,2854,2096,1909,1909,4094,0,0,0,0,0,0,26.10,26.08,26.08,10.14,49.92
$GC,1125,1.84,616.2,2853,2096,1907,4094,2.9,8.5,142,1144,0.47,1.40,7.88,0.552,10756,0.037,0.052,2907,1567,1764,1764,4094,0,0,0,0,0,0,26.12,25.91,25.27,10.17,50.07
$STATE,1152,end climb,SURFACE_DEPTH_REACHED
$STATE,1152,begin surface coast
$FINISH,0.1,1.001442
$STATE,1173,end surface coast,CONTROL_FINISHED_OK
$STATE,1173,begin surface
$SM_CCo,1273,0.00,0.000,0,0,1763,619.91
$SM_GC,0.86,27.67,0.95,0.00,0.022,0.027,0.000,230,1956,1763,-6.59,-1.46,619.91,0,0,0,0,0,0,26.01,26.06,26.08
$IRIDIUM_FIX,5952.82,-17420.78,090817,002310
$TT8_MAMPS,0.024717,0.251664
$HUMID,51.73
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.88,19.745
$10V_AH,10.16,23.534
$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,45.125,24.950,64.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.260,60.511,158.030,620.621,65.476,33.417,414.863,0.000,361.529,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,55.845,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.650,402.011,318.410,471.809,617.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,14375,148
$CAP_FILE_SIZE,33879,0
$CFSIZE,1024409600,983515136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,025025,6045.083,-17338.271,5,0.8,35,7.1,0.5,357.9,11,4.9