version: 66.13
glider: 401
mission: 22
dive: 726
start: 8 8 117 23 57 45
data:
$ID,401
$MISSION,22
$DIVE,726
$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,16
$R_STBD_OVSHOOT,32
$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,0.16
$_SM_ANGLEo,-1.6
$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,-0.047956,0.395755
$KALMAN_X,67535.562500,-355.393768,-12.417603,-247986.593750,-47.819725
$KALMAN_Y,-28876.445312,1355.066772,851.419556,187145.171875,-133.097046
$MHEAD_RNG_PITCHd_Wd,346.0,42441,-10.4,-10.000,-14.08,7869
$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,-1.61,-438.8,2399,1957,2363,4092,0.0,0.0,0,20,5.80,0.00,-3.90,0.000,20482,0.026,0.000,1826,1958,2788,2788,4095,0,0,0,0,0,0,26.19,28.83,26.22,10.31,53.03
$GC,23,-1.61,-438.8,1825,1957,2788,4095,0.1,0.0,1,32,0.00,0.00,-1.95,0.000,16390,0.000,0.000,1826,1957,2998,2998,4094,0,0,0,0,0,0,26.37,25.64,26.36,10.39,53.42
$GC,69,-1.61,-438.8,1825,1957,2999,4094,1.0,-2.9,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1958,2999,2999,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.44,53.11
$GC,114,-1.61,-438.8,1825,1957,3000,4095,7.0,-14.2,13,123,0.00,1.42,0.00,0.000,260,0.000,0.047,1826,2480,3000,3000,4095,0,0,0,0,0,0,26.32,26.02,26.33,10.44,52.75
$GC,159,-1.61,-438.8,1825,2480,3001,4095,12.7,-12.0,19,169,0.00,1.38,0.00,0.000,1030,0.000,0.030,1826,1940,3001,3001,4095,0,0,0,0,0,0,26.13,26.10,26.16,10.42,52.00
$GC,205,-1.61,-438.8,1825,1940,3002,4095,18.3,-12.4,25,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3002,3002,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.40,51.77
$GC,250,-1.61,-438.8,1825,1941,3003,4095,23.7,-11.6,31,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3003,3003,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.40,50.74
$GC,295,-1.61,-438.8,1825,1941,3003,4095,29.1,-12.1,37,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3004,3004,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.39,51.06
$GC,340,-1.61,-438.8,1825,1941,3005,4094,34.6,-12.3,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3005,3005,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.38,50.23
$GC,385,-1.61,-438.8,1825,1941,3006,4094,40.3,-12.7,49,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3006,3006,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.38,49.05
$GC,430,-1.61,-438.8,1824,1941,3007,4094,45.8,-12.2,55,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1941,3007,3007,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.38,48.77
$GC,474,-1.61,-438.8,1824,1941,3008,4095,50.9,-11.4,61,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1941,3008,3008,4094,0,0,0,0,0,0,26.52,26.54,26.54,10.37,48.54
$GC,518,-1.61,-438.8,1825,1940,3009,4094,55.9,-11.4,67,527,0.00,1.42,0.00,0.000,260,0.000,0.046,1825,2471,3009,3009,4095,0,0,0,0,0,0,26.54,26.23,26.55,10.36,48.97
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,562,-0.45,0.0,1825,2073,3010,4094,60.5,-11.2,72,598,3.85,0.00,25.60,1.284,10244,0.056,0.000,2184,2073,2483,2483,4095,0,0,0,0,0,0,26.27,25.19,24.47,10.35,48.18
$STATE,599,end apogee,CONTROL_FINISHED_OK
$STATE,599,begin climb
$GC,602,1.61,438.8,2184,2072,2484,4095,63.1,0.0,76,638,6.90,0.00,25.27,1.261,11270,0.036,0.000,2841,2073,1972,1972,4094,0,0,0,0,0,0,25.70,25.86,24.03,10.24,47.36
$GC,676,1.61,438.8,2840,2072,1971,4094,58.2,10.4,85,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2073,1971,1971,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.12,46.37
$GC,720,1.61,438.8,2840,2072,1970,4094,53.1,10.7,91,730,0.00,1.50,0.00,0.000,260,0.000,0.052,2840,2607,1970,1970,4095,0,0,0,0,0,0,25.81,25.50,25.82,10.12,46.29
$GC,766,1.61,438.8,2840,2607,1969,4095,47.7,11.7,97,776,0.00,1.35,0.00,0.000,1030,0.000,0.028,2840,2082,1969,1969,4094,0,0,0,0,0,0,25.72,25.67,25.74,10.11,46.81
$GC,812,1.61,438.8,2840,2081,1967,4094,42.4,11.3,103,821,0.00,1.42,0.00,0.000,516,0.000,0.053,2841,1543,1967,1967,4094,0,0,0,0,0,0,26.01,25.71,26.03,10.12,46.77
$GC,896,1.61,438.8,2840,1542,1967,4094,33.3,10.7,115,905,0.00,1.23,0.00,0.000,1030,0.000,0.025,2841,2049,1965,1965,4095,0,0,0,0,0,0,25.94,25.91,25.97,10.12,47.75
$GC,943,1.61,438.8,2840,2048,1964,4095,28.6,10.4,121,952,0.00,1.52,0.00,0.000,260,0.000,0.054,2841,2609,1964,1964,4095,0,0,0,0,0,0,26.19,25.88,26.20,10.12,48.38
$GC,995,1.61,438.8,2840,2609,1963,4095,22.7,10.7,128,1005,0.00,1.42,0.00,0.000,1030,0.000,0.028,2841,2050,1963,1963,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.13,47.95
$GC,1041,1.61,438.8,2840,2049,1962,4094,17.8,10.9,134,1050,0.00,1.33,0.00,0.000,516,0.000,0.053,2841,1541,1962,1962,4094,0,0,0,0,0,0,26.28,26.01,26.29,10.12,48.62
$GC,1119,1.61,443.8,2840,1541,1960,4094,9.8,9.9,145,1129,0.00,1.20,0.00,0.000,1030,0.000,0.027,2841,2042,1960,1960,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.13,48.93
$GC,1165,1.61,443.8,2840,2041,1958,4094,5.2,10.1,151,1175,0.00,1.55,0.00,0.000,260,0.000,0.052,2841,2618,1958,1958,4094,0,0,0,0,0,0,26.37,26.06,26.39,10.15,50.00
$STATE,1204,end climb,SURFACE_DEPTH_REACHED
$STATE,1204,begin surface coast
$FINISH,0.2,1.024085
$STATE,1226,end surface coast,CONTROL_FINISHED_OK
$STATE,1227,begin surface
$SM_CCo,1325,0.00,0.000,0,0,1957,453.34
$SM_GC,1.20,26.90,1.75,0.00,0.022,0.031,0.000,230,1950,1957,-6.59,1.00,453.34,0,0,0,0,0,0,26.10,26.13,26.19
$IRIDIUM_FIX,5952.82,-17420.78,080817,220239
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.65
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.03,19.581
$10V_AH,10.16,23.387
$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,43.450,21.225,50.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.244,59.806,154.111,662.553,66.790,33.414,411.544,0.000,385.847,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,53.550,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.522,431.855,342.056,506.847,660.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330720
$DATA_FILE_SIZE,14441,159
$CAP_FILE_SIZE,32943,0
$CFSIZE,1024409600,983810048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,002101,6042.713,-17337.186,12,0.8,35,7.1,0.5,276.2,11,4.8