version: 66.13
glider: 401
mission: 22
dive: 727
start: 8 9 117 0 32 3
data:
$ID,401
$MISSION,22
$DIVE,727
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,090817,002101,6042.7129,-17337.1855,12,0.8,35,7.1,0.5,276.2,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-42.4
$GPS2,090817,003053,6042.7700,-17337.3789,6,0.8,14,7.1,0.5,311.1,11,4.8
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.025677,0.414479
$KALMAN_X,66974.773438,-436.933899,-100.918427,-248098.375000,-129.044052
$KALMAN_Y,-28218.529297,1489.541992,974.882446,187703.375000,38.287048
$MHEAD_RNG_PITCHd_Wd,349.4,40777,-9.8,-10.000,-13.54,8692
$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,-1.55,-438.8,230,1947,1957,4092,0.0,0.0,0,17,6.95,0.00,0.00,0.000,2049,0.103,0.000,812,1946,1957,1957,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.28,50.27
$GC,20,-1.55,-438.8,812,1946,1957,4094,1.0,0.0,1,45,11.02,1.55,-9.52,0.000,18692,0.052,1.270,1836,2491,3001,3001,4095,0,0,0,0,0,0,25.88,24.66,25.96,10.28,50.43
$GC,90,-1.55,-438.8,1836,2491,3001,4095,0.0,0.1,12,96,0.00,1.42,0.00,0.000,1030,0.000,0.037,1836,1952,3001,3001,4094,0,0,0,0,0,0,25.94,25.90,25.97,10.50,50.00
$GC,129,-1.55,-438.8,1836,1952,3001,4094,1.2,-4.8,18,135,0.00,1.45,0.00,0.000,260,0.000,0.044,1837,2486,3001,3001,4095,0,0,0,0,0,0,26.22,25.93,26.24,10.50,49.96
$GC,325,-1.55,-438.8,1836,2486,3005,4095,23.3,-11.0,50,332,0.00,1.45,0.00,0.000,1030,0.000,0.028,1837,1913,3005,3005,4094,0,0,0,0,0,0,26.22,26.13,26.24,10.44,48.30
$GC,364,-1.55,-438.8,1836,1912,3006,4094,27.7,-10.9,56,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1913,3006,3006,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.44,48.07
$GC,402,-1.55,-438.8,1836,1912,3007,4095,32.1,-11.4,62,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1913,3007,3007,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.42,47.87
$GC,439,-1.55,-438.8,1836,1912,3007,4095,36.5,-11.9,68,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1913,3007,3007,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.42,46.92
$GC,477,-1.55,-438.8,1836,1912,3008,4094,41.0,-12.2,74,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1913,3008,3008,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.41,47.24
$GC,515,-1.55,-438.8,1836,1913,3009,4094,45.4,-11.6,80,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1913,3008,3008,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.41,47.16
$GC,553,-1.55,-438.8,1836,1913,3010,4094,49.6,-10.8,86,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1912,3011,3011,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.40,46.81
$GC,591,-1.55,-438.8,1836,1912,3010,4094,53.7,-10.8,92,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1913,3011,3011,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.39,47.00
$GC,628,-1.55,-438.8,1836,1912,3011,4095,57.8,-11.1,98,635,0.00,1.52,0.00,0.000,260,0.000,0.045,1837,2500,3012,3012,4094,0,0,0,0,0,0,26.54,26.23,26.55,10.38,46.29
$STATE,646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,647,begin apogee
$GC,654,-0.45,0.0,1836,2071,3012,4094,60.1,-10.9,101,689,3.67,0.00,25.50,1.284,10244,0.054,0.000,2185,2071,2484,2484,4095,0,0,0,0,0,0,26.26,25.18,24.46,10.38,46.49
$STATE,690,end apogee,CONTROL_FINISHED_OK
$STATE,690,begin climb
$GC,693,1.55,438.8,2185,2071,2484,4095,62.3,0.0,107,729,6.65,0.00,25.20,1.258,11270,0.035,0.000,2819,2071,1972,1972,4094,0,0,0,0,0,0,25.68,25.85,24.02,10.27,45.70
$GC,761,1.55,438.8,2818,2071,1972,4094,57.5,10.4,118,768,0.00,1.52,0.00,0.000,260,0.000,0.049,2819,2614,1971,1971,4094,0,0,0,0,0,0,25.61,25.33,25.62,10.16,45.35
$GC,794,1.55,438.8,2819,2614,1970,4094,54.1,11.3,123,801,0.00,1.33,0.00,0.000,1030,0.000,0.025,2819,2095,1971,1971,4094,0,0,0,0,0,0,25.56,25.53,25.58,10.15,44.95
$GC,833,1.55,438.8,2819,2095,1969,4094,49.7,11.0,129,839,0.00,1.45,0.00,0.000,516,0.000,0.050,2819,1546,1970,1970,4094,0,0,0,0,0,0,25.86,25.56,25.87,10.15,45.19
$GC,919,1.55,438.8,2818,1546,1967,4094,40.5,10.2,143,926,0.00,1.27,0.00,0.000,1030,0.000,0.025,2819,2071,1967,1967,4094,0,0,0,0,0,0,25.84,25.84,25.86,10.15,45.82
$GC,958,1.55,438.8,2819,2070,1967,4094,36.7,10.1,149,965,0.00,1.45,0.00,0.000,260,0.000,0.051,2820,2606,1966,1966,4095,0,0,0,0,0,0,26.10,25.79,26.11,10.14,46.37
$GC,999,1.55,442.0,2819,2605,1966,4095,32.8,10.0,155,1005,0.00,1.38,0.00,0.000,1030,0.000,0.027,2819,2064,1966,1966,4095,0,0,0,0,0,0,25.94,25.91,25.96,10.15,46.96
$GC,1038,1.55,442.0,2819,2063,1965,4095,28.7,10.1,161,1044,0.00,1.35,0.00,0.000,516,0.000,0.052,2820,1545,1964,1964,4094,0,0,0,0,0,0,26.19,25.89,26.21,10.14,47.20
$GC,1106,1.56,445.5,2819,1545,1963,4094,21.9,10.0,172,1113,0.00,1.23,0.00,0.000,1030,0.000,0.026,2819,2054,1963,1963,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.15,48.30
$GC,1145,1.60,477.2,2819,2054,1962,4094,18.1,9.6,178,1154,0.10,1.50,3.42,0.394,10500,0.076,0.051,2836,2611,1926,1926,4094,0,0,0,0,0,0,26.10,25.91,25.11,10.15,48.85
$GC,1210,1.60,477.2,2836,2610,1925,4094,11.5,10.1,188,1216,0.00,1.38,0.00,0.000,1030,0.000,0.027,2837,2065,1925,1925,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.14,49.33
$GC,1249,1.61,481.8,2835,2065,1924,4094,7.7,9.9,194,1255,0.00,1.33,0.00,0.000,516,0.000,0.051,2837,1546,1924,1924,4094,0,0,0,0,0,0,26.35,26.04,26.36,10.15,49.09
$GC,1306,1.91,683.9,2836,1546,1923,4094,2.9,7.6,203,1320,0.90,1.17,9.25,0.576,11266,0.027,0.026,2937,2045,1744,1744,4094,0,0,0,0,0,0,26.17,26.16,26.21,10.18,49.88
$STATE,1322,end climb,FINISH_DEPTH_REACHED
$STATE,1322,begin subsurface finish
$FINISH1,2.0,1.024093,105
$GC,1329,0.16,105.0,2937,2045,1744,4094,2.0,7.3,205,1342,5.72,0.00,-5.10,0.000,20486,0.044,0.000,2389,2052,2368,2368,4094,0,0,0,0,0,0,26.06,25.03,26.10,10.16,50.23
$FINISH2,0.4
$STATE,1343,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1344,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,231001
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.73
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.02,19.629
$10V_AH,10.33,23.408
$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,35.025,24.825,63.375,0.000,0.000,23.265,21.513,404.304,0.000,0.000,16.116,543.494,331.541,174.236,689.615,217.298,33.449,398.173,0.000,309.455,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1269.900,1284.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,138.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,14315,207
$CAP_FILE_SIZE,43389,0
$CFSIZE,1024409600,983760896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,003053,6042.770,-17337.379,6,0.8,14,7.1,0.5,311.1,11,4.8