version: 66.13
glider: 401
mission: 22
dive: 730
start: 8 9 117 1 45 45
data:
$ID,401
$MISSION,22
$DIVE,730
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,090817,013748,6043.7852,-17337.9414,4,0.8,18,7.1,0.6,319.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-45.1
$GPS2,090817,014437,6043.8647,-17338.0371,6,0.7,14,7.1,0.0,328.8,12,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.075260,0.380078
$KALMAN_X,66675.726562,-538.386475,-223.545502,-248202.015625,-87.934235
$KALMAN_Y,-27794.748047,1652.952637,1087.411255,189023.234375,142.595215
$MHEAD_RNG_PITCHd_Wd,341.7,38665,-10.9,-10.000,-14.47,7345
$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,-487.5,237,1957,1957,4092,0.0,0.0,0,21,10.45,0.00,0.00,0.000,2049,0.103,0.000,1115,1958,1958,1958,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.25,51.69
$GC,24,-1.72,-487.5,1115,1957,1957,4094,0.9,0.0,1,51,7.10,1.50,-10.05,0.000,18692,0.047,1.272,1782,2487,3053,3053,4094,0,0,0,0,0,0,25.97,24.72,26.03,10.25,51.73
$GC,62,-1.72,-487.5,1782,2486,3053,4094,0.2,1.8,5,71,0.00,1.38,0.00,0.000,1030,0.000,0.027,1783,1943,3053,3053,4094,0,0,0,0,0,0,25.85,25.82,25.87,10.50,51.69
$GC,108,-1.72,-487.5,1782,1944,3055,4094,5.7,-12.7,11,117,0.00,1.48,0.00,0.000,260,0.000,0.045,1782,2487,3055,3055,4094,0,0,0,0,0,0,26.13,25.82,26.15,10.50,51.22
$GC,299,-1.72,-487.5,1782,2487,3059,4094,31.0,-13.3,39,308,0.00,1.30,0.00,0.000,1030,0.000,0.027,1782,1970,3060,3060,4094,0,0,0,0,0,0,26.13,26.09,26.15,10.42,48.26
$GC,345,-1.72,-487.5,1782,1970,3060,4094,37.6,-14.0,45,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1970,3061,3061,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.42,47.79
$GC,390,-1.72,-487.5,1782,1969,3061,4094,44.0,-14.5,51,399,0.00,1.45,0.00,0.000,516,0.000,0.051,1783,1408,3062,3062,4095,0,0,0,0,0,0,26.40,26.08,26.41,10.41,47.55
$GC,435,-1.72,-487.5,1782,1407,3063,4095,50.3,-13.9,57,445,0.00,1.33,0.00,0.000,1030,0.000,0.026,1783,1955,3063,3063,4095,0,0,0,0,0,0,26.22,26.17,26.26,10.40,47.40
$GC,481,-1.72,-487.5,1782,1955,3064,4095,56.3,-13.2,63,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1955,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.39,47.28
$STATE,511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,518,-0.45,0.0,1783,2115,3065,4095,60.6,-13.1,67,553,4.30,0.00,28.12,1.300,10244,0.056,0.000,2186,2115,2484,2484,4094,0,0,0,0,0,0,26.17,25.32,24.32,10.38,46.37
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,556,1.72,487.5,2185,2115,2484,4094,63.4,0.0,71,601,7.28,1.45,28.08,1.271,10756,0.035,0.044,2880,1567,1915,1915,4094,0,0,0,0,0,0,25.51,25.44,23.90,10.26,45.82
$GC,631,1.72,487.5,2879,1566,1914,4094,57.9,11.4,80,640,0.00,1.35,0.00,0.000,1030,0.000,0.026,2881,2101,1914,1914,4094,0,0,0,0,0,0,25.34,25.29,25.35,10.13,44.56
$GC,678,1.72,487.5,2879,2101,1912,4094,52.6,11.9,86,687,0.00,1.48,0.00,0.000,260,0.000,0.054,2880,2640,1913,1913,4094,0,0,0,0,0,0,25.74,25.44,25.75,10.13,45.19
$GC,743,1.72,487.5,2879,2640,1911,4094,44.2,12.5,95,752,0.00,1.35,0.00,0.000,1030,0.000,0.026,2880,2106,1911,1911,4094,0,0,0,0,0,0,25.71,25.68,25.72,10.12,46.02
$GC,789,1.72,487.5,2879,2105,1910,4094,39.0,11.1,101,798,0.00,1.40,0.00,0.000,516,0.000,0.050,2880,1571,1910,1910,4094,0,0,0,0,0,0,26.00,25.70,26.01,10.13,46.14
$GC,867,1.72,487.5,2879,1571,1907,4094,29.9,11.7,112,876,0.00,1.33,0.00,0.000,1030,0.000,0.028,2880,2106,1908,1908,4094,0,0,0,0,0,0,25.89,25.86,25.92,10.13,46.57
$GC,912,1.72,487.5,2879,2106,1906,4094,24.5,12.0,118,922,0.00,1.45,0.00,0.000,260,0.000,0.054,2880,2642,1906,1906,4094,0,0,0,0,0,0,26.17,25.86,26.18,10.13,46.88
$GC,973,1.72,487.5,2879,2642,1905,4094,17.2,12.4,126,981,0.00,1.33,0.00,0.000,1030,0.000,0.027,2880,2109,1904,1904,4094,0,0,0,0,0,0,26.03,26.03,26.02,10.13,47.16
$GC,1019,1.72,487.5,2880,2108,1903,4094,11.7,11.8,132,1029,0.00,1.38,0.00,0.000,516,0.000,0.050,2880,1579,1903,1903,4094,0,0,0,0,0,0,26.27,25.97,26.28,10.14,47.63
$GC,1085,1.72,487.5,2879,1578,1901,4094,4.1,10.8,141,1094,0.00,1.33,0.00,0.000,1030,0.000,0.028,2880,2118,1901,1901,4094,0,0,0,0,0,0,26.10,26.08,26.12,10.16,48.26
$STATE,1110,end climb,FINISH_DEPTH_REACHED
$STATE,1110,begin subsurface finish
$FINISH1,1.6,1.024051,108
$GC,1117,0.16,108.0,2880,2117,1900,4094,1.6,9.2,144,1136,5.10,0.00,-4.07,0.000,20486,0.047,0.000,2393,2118,2361,2361,4094,0,0,0,0,0,0,26.11,25.56,26.17,10.18,49.44
$FINISH2,0.2
$STATE,1137,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1137,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,090817,002310
$TT8_MAMPS,0.026215,0.250915
$HUMID,50.07
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.90,19.701
$10V_AH,10.16,23.489
$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,34.225,22.625,56.200,0.000,0.000,25.642,19.529,223.014,0.000,0.000,16.046,412.954,0.383,127.306,880.937,145.683,33.447,375.979,0.000,357.269,0.000,0.544,0.000
$DEVICE_MAMPS,102.510,1272.195,1299.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.367,396.545,314.080,465.330,606.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,14318,146
$CAP_FILE_SIZE,32847,0
$CFSIZE,1024409600,983613440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,014437,6043.865,-17338.037,6,0.7,14,7.1,0.0,328.8,12,4.9