version: 66.13
glider: 401
mission: 22
dive: 733
start: 8 9 117 2 59 21
data:
$ID,401
$MISSION,22
$DIVE,733
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,090817,025025,6045.0830,-17338.2715,5,0.8,35,7.1,0.5,357.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-40.9
$GPS2,090817,025813,6045.1943,-17338.2461,7,0.8,13,7.1,0.0,12.8,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.181263,0.368099
$KALMAN_X,66845.875000,-590.010742,-277.248047,-248471.328125,18.550781
$KALMAN_Y,-27130.847656,1903.685425,1280.072632,190373.062500,194.147827
$MHEAD_RNG_PITCHd_Wd,326.7,36248,-10.0,-10.000,-13.70,8440
$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,-1.64,-487.5,230,1963,1762,4092,0.0,0.0,0,18,7.53,0.00,0.00,0.000,2049,0.103,0.000,861,1960,1762,1762,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.23,50.27
$GC,21,-1.64,-487.5,860,1959,1763,4094,0.9,0.0,1,51,10.10,1.42,-11.77,0.000,18692,0.047,1.272,1808,2472,3057,3057,4095,0,0,0,0,0,0,25.93,24.70,25.99,10.24,50.31
$GC,281,-1.64,-487.5,1807,2472,3062,4095,30.0,-13.0,44,288,0.00,1.33,0.00,0.000,1030,0.000,0.027,1808,1949,3062,3062,4095,0,0,0,0,0,0,26.12,26.09,26.13,10.44,47.87
$GC,320,-1.64,-487.5,1807,1949,3063,4095,34.9,-12.7,50,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,1948,3063,3063,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.43,47.51
$GC,358,-1.64,-487.5,1808,1948,3064,4094,39.9,-13.0,56,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,1949,3064,3064,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.43,47.44
$GC,396,-1.64,-487.5,1807,1948,3065,4095,45.0,-13.6,62,402,0.00,1.38,0.00,0.000,516,0.000,0.052,1808,1412,3065,3065,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.42,46.92
$GC,434,-1.64,-487.5,1808,1412,3066,4095,49.9,-12.6,68,441,0.00,1.27,0.00,0.000,1030,0.000,0.025,1808,1946,3066,3066,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.40,46.73
$GC,473,-1.64,-487.5,1807,1946,3067,4095,54.6,-12.7,74,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,1946,3067,3067,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.40,46.65
$GC,511,-1.64,-487.5,1807,1946,3068,4094,59.4,-12.8,80,517,0.00,1.40,0.00,0.000,260,0.000,0.048,1808,2478,3067,3067,4094,0,0,0,0,0,0,26.47,26.16,26.48,10.39,46.33
$STATE,522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,522,begin apogee
$GC,530,-0.45,0.0,1808,2082,3068,4095,61.1,-12.5,82,566,4.03,0.00,28.10,1.294,10244,0.054,0.000,2186,2082,2484,2484,4094,0,0,0,0,0,0,26.18,25.32,24.33,10.39,46.92
$STATE,567,end apogee,CONTROL_FINISHED_OK
$STATE,567,begin climb
$GC,570,1.64,487.5,2186,2081,2484,4094,63.6,0.0,88,611,7.00,0.00,27.88,1.271,11270,0.034,0.000,2850,2082,1917,1917,4094,0,0,0,0,0,0,25.57,25.71,23.89,10.27,46.45
$GC,644,1.64,487.5,2850,2081,1916,4094,58.1,11.1,100,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2082,1916,1916,4094,0,0,0,0,0,0,25.54,25.56,25.55,10.14,44.52
$GC,681,1.64,487.5,2850,2081,1915,4094,53.7,11.5,106,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2082,1915,1915,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,44.80
$GC,719,1.64,487.5,2850,2081,1914,4094,49.2,11.7,112,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2081,1914,1914,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.13,45.35
$GC,757,1.64,487.5,2850,2081,1913,4094,44.8,11.9,118,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2082,1913,1913,4094,0,0,0,0,0,0,25.92,25.93,25.93,10.13,45.62
$GC,795,1.64,487.5,2850,2081,1912,4094,40.6,11.4,124,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2082,1912,1912,4095,0,0,0,0,0,0,25.99,26.01,26.00,10.13,46.18
$GC,832,1.64,487.5,2850,2081,1911,4095,36.6,10.1,130,839,0.00,1.30,0.00,0.000,516,0.000,0.050,2850,1588,1911,1911,4094,0,0,0,0,0,0,26.05,25.75,26.06,10.13,46.65
$GC,895,1.64,487.5,2850,1587,1909,4094,30.0,10.7,140,902,0.00,1.23,0.00,0.000,1030,0.000,0.028,2850,2087,1909,1909,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.13,46.73
$GC,934,1.64,487.5,2850,2086,1908,4094,26.0,10.5,146,940,0.00,1.50,0.00,0.000,260,0.000,0.054,2850,2641,1908,1908,4094,0,0,0,0,0,0,26.18,25.86,26.20,10.13,47.55
$GC,990,1.64,487.5,2850,2640,1907,4094,20.1,10.6,155,997,0.00,1.33,0.00,0.000,1030,0.000,0.027,2850,2108,1907,1907,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.13,47.55
$GC,1029,1.64,487.5,2849,2108,1906,4094,16.2,10.1,161,1036,0.00,1.40,0.00,0.000,516,0.000,0.050,2851,1574,1906,1906,4094,0,0,0,0,0,0,26.27,25.96,26.28,10.14,47.95
$GC,1110,1.73,552.0,2850,1573,1904,4094,8.5,9.2,174,1124,0.20,1.20,4.68,0.466,11270,0.034,0.027,2881,2071,1838,1838,4094,0,0,0,0,0,0,26.13,26.10,25.23,10.15,49.21
$GC,1156,1.83,613.8,2881,2071,1838,4094,4.4,9.2,181,1170,0.20,1.30,4.82,0.448,10756,0.057,0.050,2905,1576,1767,1767,4094,0,0,0,0,0,0,26.08,25.94,25.26,10.16,49.88
$STATE,1181,end climb,FINISH_DEPTH_REACHED
$STATE,1182,begin subsurface finish
$FINISH1,1.7,1.024069,107
$GC,1190,0.16,106.7,2905,2103,1766,4094,1.7,9.4,185,1204,5.47,0.00,-5.12,0.000,20998,0.058,0.000,2399,2104,2364,2364,4095,0,0,0,0,0,0,26.01,25.04,26.09,10.17,50.66
$FINISH2,0.2
$STATE,1205,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1205,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,090817,013955
$TT8_MAMPS,0.025466,0.161035
$HUMID,50.94
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.89,19.786
$10V_AH,10.33,23.552
$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,34.525,18.350,65.475,0.000,0.000,25.970,19.160,279.810,0.000,0.000,14.263,483.381,290.812,170.780,597.151,149.703,33.453,376.196,0.000,281.193,0.000,0.544,0.000
$DEVICE_MAMPS,103.275,1272.195,1294.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14305,187
$CAP_FILE_SIZE,37147,0
$CFSIZE,1024409600,983465984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,025813,6045.194,-17338.246,7,0.8,13,7.1,0.0,12.8,10,5.0