version: 66.13
glider: 401
mission: 22
dive: 725
start: 8 8 117 23 37 35
data:
$ID,401
$MISSION,22
$DIVE,725
$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,450
$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,2080
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$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
$GPS1,080817,231505,6041.9604,-17336.4746,6,0.8,25,7.1,0.0,343.5,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-2.9
$GPS2,080817,231505,6041.9604,-17336.4746,6,0.8,25,7.1,0.0,343.5,10,4.9
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.034297,0.359128
$KALMAN_X,67463.320312,-335.305359,16.157932,-247963.421875,-87.785660
$KALMAN_Y,-28485.792969,1338.969116,851.197754,186772.593750,-12.699707
$MHEAD_RNG_PITCHd_Wd,347.4,42441,-12.1,-10.000,-15.49,6188
$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,-1.71,-412.0,2392,1957,2362,4092,0.0,0.0,0,18,6.10,0.00,-1.62,0.000,20482,0.024,0.000,1795,1958,2541,2541,4095,0,0,0,0,0,0,26.10,28.83,26.15,10.31,51.37
$GC,22,-1.71,-412.0,1794,1957,2541,4095,0.2,0.0,1,29,0.00,1.50,-3.90,0.000,16900,0.000,1.280,1795,1411,2969,2969,4094,0,0,0,0,0,0,26.32,24.84,26.33,10.35,51.69
$GC,79,-1.71,-412.0,1794,1411,2969,4094,4.3,-13.9,10,86,0.00,1.33,0.00,0.000,1030,0.000,0.028,1794,1962,2969,2969,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.45,51.41
$GC,118,-1.71,-412.0,1794,1962,2971,4094,9.8,-13.5,16,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1962,2971,2971,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.42,51.14
$GC,156,-1.71,-412.0,1794,1962,2972,4094,15.2,-14.4,22,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1962,2972,2972,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.41,50.70
$GC,193,-1.71,-412.0,1794,1962,2973,4095,20.4,-14.0,28,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1962,2973,2973,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.40,50.31
$GC,231,-1.71,-412.0,1794,1962,2973,4095,25.6,-13.4,34,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1962,2973,2973,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.39,49.76
$GC,269,-1.71,-412.0,1794,1962,2975,4095,30.8,-13.7,40,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1963,2975,2975,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.39,49.33
$GC,307,-1.71,-412.0,1794,1962,2976,4095,36.1,-14.4,46,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1962,2976,2976,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.38,49.40
$GC,344,-1.71,-412.0,1794,1963,2977,4095,41.5,-14.8,52,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1963,2977,2977,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.38,48.97
$GC,382,-1.71,-412.0,1794,1963,2977,4094,46.8,-13.7,58,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1963,2978,2978,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.38,49.09
$GC,420,-1.71,-412.0,1794,1963,2979,4095,51.8,-12.8,64,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1963,2979,2979,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.37,49.21
$GC,458,-1.71,-412.0,1793,1963,2979,4095,56.7,-13.5,70,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1963,2980,2980,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.36,48.42
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,489,-0.45,0.0,1794,2085,2980,4094,60.1,-13.0,74,525,4.20,0.00,24.10,1.280,10244,0.058,0.000,2186,2085,2483,2483,4094,0,0,0,0,0,0,26.25,25.22,24.50,10.36,48.30
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,529,1.71,412.0,2186,2085,2483,4094,62.8,0.0,80,566,7.20,1.45,23.65,1.253,10756,0.034,0.047,2879,1535,2004,2004,4094,0,0,0,0,0,0,25.67,25.62,24.08,10.25,47.87
$GC,604,1.71,412.0,2878,1534,2003,4094,56.9,11.7,92,611,0.00,1.33,0.00,0.000,1030,0.000,0.026,2879,2068,2002,2002,4094,0,0,0,0,0,0,25.48,25.45,25.50,10.13,46.37
$GC,643,1.71,412.0,2878,2067,2002,4094,52.1,12.6,98,649,0.00,1.50,0.00,0.000,260,0.000,0.052,2879,2613,2000,2000,4094,0,0,0,0,0,0,25.82,25.52,25.82,10.13,46.61
$GC,711,1.71,412.0,2879,2613,2000,4094,43.0,13.6,109,718,0.00,1.38,0.00,0.000,1030,0.000,0.027,2879,2075,2000,2000,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.13,46.96
$GC,750,1.71,412.0,2879,2075,1999,4094,38.1,12.1,115,757,0.00,1.40,0.00,0.000,516,0.000,0.053,2879,1543,1998,1998,4094,0,0,0,0,0,0,26.05,25.74,26.06,10.13,47.16
$GC,830,1.71,412.0,2879,1542,1997,4094,28.1,12.4,128,837,0.00,1.25,0.00,0.000,1030,0.000,0.026,2879,2058,1996,1996,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.13,48.54
$GC,869,1.71,412.0,2878,2058,1995,4094,23.5,11.8,134,876,0.00,1.48,0.00,0.000,260,0.000,0.053,2879,2602,1995,1995,4094,0,0,0,0,0,0,26.20,25.89,26.22,10.13,49.13
$GC,914,1.71,412.0,2879,2602,1994,4094,17.9,12.6,141,920,0.00,1.38,0.00,0.000,1030,0.000,0.028,2879,2060,1994,1994,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.14,49.48
$GC,953,1.71,412.0,2878,2060,1993,4094,13.2,12.2,147,959,0.00,1.35,0.00,0.000,516,0.000,0.053,2880,1543,1993,1993,4094,0,0,0,0,0,0,26.28,25.97,26.29,10.15,49.48
$GC,1021,1.71,412.0,2879,1542,1991,4094,5.3,11.6,158,1028,0.00,1.25,0.00,0.000,1030,0.000,0.027,2879,2061,1991,1991,4094,0,0,0,0,0,0,26.12,26.10,26.15,10.16,49.80
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,1.7,1.024050,108
$GC,1065,0.16,108.1,2879,2061,1990,4094,1.7,9.0,164,1079,5.28,1.55,-3.12,0.000,20740,0.068,1.287,2399,2610,2363,2363,4094,0,0,0,0,0,0,26.07,24.87,26.15,10.18,50.98
$FINISH2,0.2
$STATE,1080,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,220239
$TT8_MAMPS,0.026215,0.102613
$HUMID,51.41
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.08,19.563
$10V_AH,10.42,23.351
$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,22.775,18.750,47.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.348,257.934,144.522,242.411,54.130,33.426,328.234,0.000,249.749,0.000,0.541,0.000
$DEVICE_MAMPS,68.085,1286.730,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330720
$DATA_FILE_SIZE,10779,166
$CAP_FILE_SIZE,30636,0
$CFSIZE,1024409600,983875584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,231505,6041.960,-17336.475,6,0.8,25,7.1,0.0,343.5,10,4.9