version: 66.13
glider: 401
mission: 22
dive: 736
start: 8 9 117 4 12 11
data:
$ID,401
$MISSION,22
$DIVE,736
$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,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
$GPS1,090817,040414,6046.5400,-17338.1602,4,0.9,13,7.1,0.0,22.1,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-44.5
$GPS2,090817,041104,6046.6333,-17338.0664,6,0.9,15,7.1,0.0,16.4,10,4.6
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.277669,0.319531
$KALMAN_X,67516.664062,-564.363159,-241.549408,-249039.093750,118.764008
$KALMAN_Y,-26268.230469,2208.169189,1507.544678,191639.875000,240.084961
$MHEAD_RNG_PITCHd_Wd,311.9,33751,-9.5,-10.000,-13.29,9109
$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,-1.59,-487.5,237,1938,1922,4092,0.0,0.0,0,20,9.48,0.00,0.00,0.000,2049,0.106,0.000,1030,1936,1922,1922,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.25,51.26
$GC,23,-1.59,-487.5,1030,1935,1922,4094,0.9,0.0,1,50,8.48,1.52,-10.38,0.000,18692,0.049,1.272,1823,2484,3056,3056,4095,0,0,0,0,0,0,25.96,24.72,26.03,10.26,51.06
$GC,120,-1.59,-487.5,1822,2483,3057,4095,8.2,-13.1,14,128,0.00,1.33,0.00,0.000,1030,0.000,0.028,1822,1960,3058,3058,4095,0,0,0,0,0,0,25.98,25.96,26.01,10.50,50.59
$GC,166,-1.59,-487.5,1822,1960,3058,4095,14.1,-13.0,20,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1960,3059,3059,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.47,49.68
$GC,213,-1.59,-487.5,1823,1960,3060,4094,20.1,-12.9,26,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1960,3060,3060,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.45,48.70
$GC,260,-1.59,-487.5,1822,1960,3061,4095,25.9,-12.6,32,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1960,3061,3061,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.44,48.30
$GC,306,-1.59,-487.5,1822,1960,3062,4094,31.8,-12.2,38,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1960,3062,3062,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.43,47.95
$GC,353,-1.59,-487.5,1822,1960,3063,4094,37.4,-12.1,44,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1960,3063,3063,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.42,47.24
$GC,399,-1.59,-487.5,1822,1960,3064,4094,43.0,-11.8,50,408,0.00,1.40,0.00,0.000,516,0.000,0.053,1822,1417,3064,3064,4094,0,0,0,0,0,0,26.43,26.11,26.44,10.42,47.32
$GC,457,-1.59,-487.5,1822,1417,3065,4094,50.0,-11.7,58,467,0.00,1.30,0.00,0.000,1030,0.000,0.026,1822,1956,3065,3065,4095,0,0,0,0,0,0,26.26,26.23,26.27,10.40,46.85
$GC,505,-1.59,-487.5,1822,1956,3066,4095,55.5,-11.8,64,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1956,3066,3066,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.39,46.45
$STATE,541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,541,begin apogee
$GC,548,-0.45,0.0,1822,2109,3067,4094,60.3,-12.0,69,583,3.85,0.00,28.20,1.291,10244,0.054,0.000,2185,2108,2484,2484,4094,0,0,0,0,0,0,26.21,25.35,24.35,10.38,46.33
$STATE,584,end apogee,CONTROL_FINISHED_OK
$STATE,584,begin climb
$GC,587,1.59,487.5,2185,2108,2484,4094,62.7,0.0,73,630,6.88,0.00,27.67,1.261,11270,0.035,0.000,2836,2109,1922,1922,4094,0,0,0,0,0,0,25.58,25.74,23.92,10.26,45.58
$GC,668,1.59,487.5,2835,2108,1921,4094,56.9,10.3,83,678,0.00,0.00,0.82,0.004,8198,0.000,0.000,2837,2108,1921,1921,4094,0,0,0,0,0,0,25.60,25.60,25.60,10.13,44.25
$GC,716,1.59,487.5,2836,2108,1920,4094,51.7,11.1,89,725,0.00,0.00,0.08,0.003,8198,0.000,0.000,2837,2109,1920,1920,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.13,44.36
$GC,763,1.59,487.5,2836,2108,1919,4094,46.7,10.1,95,772,0.00,1.45,0.00,0.000,516,0.000,0.047,2837,1567,1919,1919,4094,0,0,0,0,0,0,25.90,25.61,25.91,10.13,45.19
$GC,843,1.59,487.5,2836,1566,1917,4094,38.2,10.3,106,852,0.00,1.30,0.00,0.000,1030,0.000,0.026,2836,2094,1917,1917,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.13,45.35
$GC,891,1.65,525.4,2836,2094,1916,4094,33.6,9.6,112,900,0.00,0.00,3.90,0.531,8198,0.000,0.000,2836,2095,1871,1871,4094,0,0,0,0,0,0,26.12,25.42,24.82,10.13,46.25
$GC,938,1.70,562.1,2836,2094,1871,4094,29.1,9.6,118,949,0.25,1.38,3.83,0.499,10756,0.044,0.046,2872,1565,1827,1827,4094,0,0,0,0,0,0,25.93,25.48,24.89,10.12,46.57
$GC,998,1.70,562.1,2872,1565,1827,4094,22.7,10.5,126,1008,0.00,1.27,0.00,0.000,1030,0.000,0.026,2873,2085,1826,1826,4094,0,0,0,0,0,0,25.96,25.92,25.97,10.12,46.85
$GC,1046,1.70,562.1,2872,2085,1825,4094,17.8,10.8,132,1056,0.00,1.50,0.00,0.000,260,0.000,0.055,2873,2639,1825,1825,4094,0,0,0,0,0,0,26.22,25.91,26.22,10.12,47.95
$GC,1085,1.70,562.1,2872,2638,1824,4094,13.4,10.7,137,1094,0.00,1.42,0.00,0.000,1030,0.000,0.027,2873,2073,1824,1824,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.12,47.67
$GC,1132,1.70,562.1,2872,2072,1823,4094,8.7,10.2,143,1141,0.00,1.30,0.00,0.000,516,0.000,0.050,2873,1572,1822,1822,4094,0,0,0,0,0,0,26.29,25.99,26.30,10.14,47.99
$STATE,1209,end climb,FINISH_DEPTH_REACHED
$STATE,1210,begin subsurface finish
$FINISH1,1.6,1.024033,109
$GC,1218,0.16,109.2,2872,2108,1820,4094,1.6,8.8,154,1236,4.88,0.00,-4.78,0.000,20998,0.033,0.000,2396,2110,2361,2361,4095,0,0,0,0,0,0,26.13,25.58,26.17,10.18,49.96
$FINISH2,0.2
$STATE,1237,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1237,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,090817,025234
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.66
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.92,19.867
$10V_AH,10.17,23.638
$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,33.800,16.875,64.500,0.000,0.000,26.181,17.826,223.584,0.000,0.000,17.177,455.386,0.000,139.319,919.471,151.704,33.451,405.382,0.000,379.619,0.000,0.543,0.000
$DEVICE_MAMPS,105.570,1272.195,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.015,423.718,335.605,496.904,645.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,14376,156
$CAP_FILE_SIZE,35800,0
$CFSIZE,1024409600,983318528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,041104,6046.633,-17338.066,6,0.9,15,7.1,0.0,16.4,10,4.6