version: 66.13
glider: 401
mission: 22
dive: 728
start: 8 9 117 0 56 37
data:
$ID,401
$MISSION,22
$DIVE,728
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,090817,003053,6042.7700,-17337.3789,6,0.8,14,7.1,0.5,311.1,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-2.0
$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,-0.029818,0.348503
$KALMAN_X,66990.000000,-444.191254,-121.750755,-248100.328125,-101.119377
$KALMAN_Y,-28450.443359,1434.164185,894.933777,188100.031250,40.860046
$MHEAD_RNG_PITCHd_Wd,348.0,40777,-12.6,-10.000,-15.96,5750
$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,-1.72,-382.2,2388,1940,2367,4092,0.0,0.0,0,20,6.03,0.00,-3.67,0.000,20482,0.024,0.000,1794,1940,2770,2770,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.32,52.08
$GC,23,-1.72,-382.2,1793,1940,2769,4094,0.1,0.0,1,33,0.00,0.00,-1.45,0.000,16390,0.000,0.000,1794,1940,2936,2936,4094,0,0,0,0,0,0,26.37,25.62,26.36,10.40,52.75
$GC,69,-1.72,-382.2,1793,1940,2938,4094,4.9,-13.4,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1940,2939,2939,4095,0,0,0,0,0,0,26.27,26.27,26.27,10.44,52.04
$GC,114,-1.72,-382.2,1793,1940,2939,4095,11.8,-14.4,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1940,2940,2940,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.41,51.85
$GC,159,-1.72,-382.2,1793,1940,2940,4095,18.0,-13.9,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1940,2940,2940,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.40,50.74
$GC,204,-1.72,-382.2,1793,1940,2941,4094,24.0,-13.2,25,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1940,2941,2941,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.39,50.19
$GC,249,-1.72,-382.2,1793,1940,2943,4095,29.8,-13.1,31,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1940,2943,2943,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,49.60
$GC,294,-1.72,-382.2,1793,1940,2944,4095,35.9,-13.3,37,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1940,2944,2944,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.38,48.97
$GC,339,-1.72,-382.2,1793,1940,2945,4095,42.2,-14.1,43,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1940,2945,2945,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.38,49.48
$GC,383,-1.72,-382.2,1793,1940,2946,4095,48.1,-13.1,49,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1940,2946,2946,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.37,48.30
$GC,427,-1.72,-382.2,1793,1940,2947,4094,53.8,-12.8,55,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1940,2947,2947,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.36,48.30
$GC,473,-1.72,-382.2,1793,1940,2948,4095,59.3,-12.4,61,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1941,2947,2947,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.35,48.14
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,496,-0.45,0.0,1792,2083,2949,4094,61.7,-12.4,63,531,4.20,0.00,22.60,1.278,10244,0.058,0.000,2183,2084,2487,2487,4094,0,0,0,0,0,0,26.23,25.24,24.51,10.34,47.75
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,535,1.72,382.2,2183,2083,2487,4094,64.5,0.0,67,571,7.25,1.40,22.42,1.258,10756,0.034,0.047,2880,1553,2038,2038,4094,0,0,0,0,0,0,25.70,25.64,24.09,10.24,46.96
$GC,614,1.72,382.2,2879,1553,2037,4094,58.1,12.2,77,623,0.00,1.27,0.00,0.000,1030,0.000,0.027,2880,2068,2036,2036,4094,0,0,0,0,0,0,25.52,25.49,25.58,10.14,46.06
$GC,659,1.72,382.2,2879,2067,2035,4094,52.1,13.2,83,669,0.00,1.48,0.00,0.000,260,0.000,0.052,2880,2605,2035,2035,4095,0,0,0,0,0,0,25.86,25.56,25.88,10.13,46.65
$GC,725,1.72,382.2,2879,2605,2034,4095,43.4,13.4,92,734,0.00,1.33,0.00,0.000,1030,0.000,0.028,2880,2086,2034,2034,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.14,46.88
$GC,772,1.72,382.2,2880,2085,2032,4094,37.7,11.4,98,782,0.00,1.42,0.00,0.000,516,0.000,0.052,2880,1544,2032,2032,4094,0,0,0,0,0,0,26.08,25.78,26.10,10.14,47.24
$GC,831,1.72,382.2,2880,1544,2031,4094,30.5,12.3,106,840,0.00,1.30,0.00,0.000,1030,0.000,0.028,2881,2075,2030,2030,4094,0,0,0,0,0,0,25.94,25.92,25.96,10.14,47.75
$GC,878,1.72,382.2,2880,2075,2029,4094,25.2,11.8,112,888,0.00,1.42,0.00,0.000,260,0.000,0.053,2881,2607,2030,2030,4095,0,0,0,0,0,0,26.21,25.91,26.22,10.15,47.71
$GC,930,1.72,382.2,2880,2606,2028,4095,18.3,12.8,119,940,0.00,1.38,0.00,0.000,1030,0.000,0.028,2881,2066,2028,2028,4094,0,0,0,0,0,0,26.04,26.02,26.07,10.14,48.85
$GC,976,1.72,382.2,2880,2066,2027,4094,12.7,12.0,125,986,0.00,1.35,0.00,0.000,516,0.000,0.054,2880,1548,2027,2027,4095,0,0,0,0,0,0,26.30,25.98,26.31,10.15,48.22
$GC,1035,1.72,382.2,2880,1547,2025,4095,5.9,11.3,133,1045,0.00,1.27,0.00,0.000,1030,0.000,0.028,2880,2075,2025,2025,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.17,49.21
$STATE,1079,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.7,1.024088,105
$GC,1086,0.16,105.4,2880,2074,2024,4094,1.7,9.1,139,1104,5.22,0.00,-2.97,0.000,20486,0.060,0.000,2391,2075,2365,2365,4094,0,0,0,0,0,0,26.15,25.58,26.20,10.19,50.51
$FINISH2,0.4
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,231001
$TT8_MAMPS,0.026215,0.241178
$HUMID,50.63
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.09,19.645
$10V_AH,10.18,23.440
$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,22.700,14.175,45.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,392.856,0.000,124.450,588.043,58.978,33.428,368.120,0.000,343.388,0.000,0.544,0.000
$DEVICE_MAMPS,60.435,54.315,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.907,382.959,303.343,449.378,586.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,14323,141
$CAP_FILE_SIZE,28509,0
$CFSIZE,1024409600,983728128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,003053,6042.770,-17337.379,6,0.8,14,7.1,0.5,311.1,11,4.8