version: 66.13
glider: 401
mission: 22
dive: 735
start: 8 9 117 3 44 8
data:
$ID,401
$MISSION,22
$DIVE,735
$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,32
$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
$GPS1,090817,025813,6045.1943,-17338.2461,7,0.8,13,7.1,0.0,12.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.7
$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,-0.178294,0.335924
$KALMAN_X,67156.718750,-562.626221,-244.124756,-248847.328125,89.125397
$KALMAN_Y,-27775.541016,1932.117065,1242.601196,191069.125000,-4.413086
$MHEAD_RNG_PITCHd_Wd,324.9,36248,-11.2,-10.000,-14.73,7022
$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,-468.7,2396,1939,2363,4092,0.0,0.0,0,18,6.12,0.00,-1.40,0.000,20482,0.024,0.000,1791,1939,2518,2518,4094,0,0,0,0,0,0,26.09,28.83,26.14,10.31,51.57
$GC,21,-1.72,-468.7,1791,1939,2518,4094,0.1,0.0,1,34,0.00,1.55,-4.65,0.000,16644,0.000,1.273,1791,2487,3035,3035,4095,0,0,0,0,0,0,26.30,24.82,26.32,10.35,52.63
$GC,72,-1.72,-468.7,1790,2487,3035,4095,5.5,-14.5,9,79,0.00,1.35,0.00,0.000,1030,0.000,0.029,1791,1960,3036,3036,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.46,51.69
$GC,111,-1.72,-468.7,1790,1959,3037,4094,11.5,-15.1,15,117,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1960,3037,3037,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.44,51.33
$GC,149,-1.72,-468.7,1790,1960,3038,4095,17.1,-14.9,21,155,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1960,3038,3038,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.41,51.10
$GC,187,-1.72,-468.7,1790,1959,3039,4095,22.5,-14.5,27,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1960,3039,3039,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.41,50.70
$GC,225,-1.72,-468.7,1790,1960,3040,4094,28.0,-14.4,33,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1960,3040,3040,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.40,50.31
$GC,262,-1.72,-468.7,1790,1960,3041,4095,33.5,-14.2,39,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1960,3041,3041,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.40,50.31
$GC,300,-1.72,-468.7,1790,1960,3042,4095,38.7,-13.7,45,307,0.00,1.42,0.00,0.000,516,0.000,0.054,1791,1411,3042,3042,4095,0,0,0,0,0,0,26.40,26.08,26.41,10.38,49.44
$GC,357,-1.72,-468.7,1790,1411,3044,4095,46.8,-14.0,54,363,0.00,1.33,0.00,0.000,1030,0.000,0.027,1791,1954,3044,3044,4094,0,0,0,0,0,0,26.22,26.20,26.24,10.38,48.77
$GC,395,-1.72,-468.7,1790,1955,3045,4094,51.9,-13.0,60,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1954,3045,3045,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.37,49.13
$GC,433,-1.72,-468.7,1790,1954,3046,4095,57.1,-13.4,66,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3046,3046,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,49.25
$STATE,456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,456,begin apogee
$GC,463,-0.45,0.0,1790,2112,3046,4095,60.5,-13.7,70,499,4.22,0.00,27.12,1.287,10244,0.057,0.000,2185,2113,2484,2484,4094,0,0,0,0,0,0,26.19,25.36,24.37,10.37,48.50
$STATE,500,end apogee,CONTROL_FINISHED_OK
$STATE,500,begin climb
$GC,503,1.72,468.7,2185,2112,2484,4094,63.1,0.0,76,539,7.28,0.00,26.90,1.265,11270,0.034,0.000,2875,2113,1937,1937,4094,0,0,0,0,0,0,25.60,25.75,23.94,10.23,47.83
$GC,572,1.72,468.7,2875,2112,1937,4094,57.8,10.9,87,578,0.00,1.42,0.00,0.000,260,0.000,0.053,2875,2631,1936,1936,4094,0,0,0,0,0,0,25.53,25.25,25.55,10.12,47.24
$GC,616,1.72,468.7,2875,2631,1935,4094,52.1,12.8,94,623,0.00,1.38,0.00,0.000,1030,0.000,0.026,2875,2095,1935,1935,4094,0,0,0,0,0,0,25.54,25.51,25.56,10.11,46.57
$GC,655,1.72,468.7,2875,2095,1933,4094,47.4,12.0,100,662,0.00,1.40,0.00,0.000,516,0.000,0.050,2875,1570,1934,1934,4094,0,0,0,0,0,0,25.84,25.56,25.86,10.11,46.96
$GC,760,1.72,468.7,2875,1569,1931,4094,34.8,11.6,117,766,0.00,1.23,0.00,0.000,1030,0.000,0.026,2875,2070,1931,1931,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.12,47.99
$GC,798,1.72,468.7,2875,2070,1930,4094,30.2,12.0,123,805,0.00,1.52,0.00,0.000,260,0.000,0.054,2876,2630,1930,1930,4094,0,0,0,0,0,0,26.11,25.79,26.12,10.12,47.79
$GC,837,1.72,468.7,2875,2629,1929,4094,25.4,12.1,129,844,0.00,1.45,0.00,0.000,1030,0.000,0.028,2875,2062,1929,1929,4094,0,0,0,0,0,0,25.98,25.91,26.01,10.12,48.18
$GC,876,1.72,468.7,2875,2061,1928,4094,20.9,12.0,135,882,0.00,1.30,0.00,0.000,516,0.000,0.052,2875,1566,1928,1928,4094,0,0,0,0,0,0,26.20,25.89,26.20,10.13,48.50
$GC,944,1.72,468.7,2875,1565,1926,4094,12.9,11.4,146,951,0.00,1.17,0.00,0.000,1030,0.000,0.027,2876,2052,1926,1926,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.13,49.40
$GC,983,1.72,468.7,2875,2052,1925,4094,8.3,12.2,152,990,0.00,1.55,0.00,0.000,260,0.000,0.054,2875,2634,1926,1926,4095,0,0,0,0,0,0,26.29,25.97,26.31,10.14,49.76
$GC,1015,1.72,468.7,2875,2633,1924,4095,4.5,11.8,157,1022,0.00,1.45,0.00,0.000,1030,0.000,0.028,2875,2062,1924,1924,4094,0,0,0,0,0,0,26.15,26.07,26.17,10.16,50.19
$STATE,1039,end climb,SURFACE_DEPTH_REACHED
$STATE,1040,begin surface coast
$FINISH,0.2,1.024034
$STATE,1059,end surface coast,CONTROL_FINISHED_OK
$STATE,1059,begin surface
$SM_CCo,1157,0.00,0.000,0,0,1922,483.39
$SM_GC,0.95,27.20,0.28,0.00,0.023,0.053,0.000,237,1938,1922,-6.55,1.09,483.39,0,0,0,0,0,0,26.15,26.13,26.17
$IRIDIUM_FIX,5952.82,-17420.78,090817,013955
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.12
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.94,19.829
$10V_AH,10.40,23.598
$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,44.825,20.575,54.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.408,314.659,167.881,239.181,57.987,33.414,349.299,0.000,247.044,0.000,0.541,0.000
$DEVICE_MAMPS,56.610,1272.960,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,10857,164
$CAP_FILE_SIZE,32525,0
$CFSIZE,1024409600,983384064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,040414,6046.540,-17338.160,4,0.9,13,7.1,0.0,22.1,10,4.7