version: 66.13
glider: 401
mission: 22
dive: 739
start: 8 9 117 5 29 39
data:
$ID,401
$MISSION,22
$DIVE,739
$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,45
$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
$GPS1,090817,051818,6047.9375,-17337.6660,5,0.8,21,7.1,0.6,54.5,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-45.4
$GPS2,090817,052832,6048.0356,-17337.4434,7,0.8,33,7.1,0.3,49.9,10,4.1
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.321380,0.204505
$KALMAN_X,68706.929688,-461.448883,-127.016434,-249862.968750,207.465332
$KALMAN_Y,-25268.375000,2539.282715,1736.896729,192677.265625,206.903687
$MHEAD_RNG_PITCHd_Wd,295.4,31483,-11.2,-10.000,-14.71,7050
$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,-470.6,237,1968,1974,4092,0.0,0.0,0,18,7.45,0.00,0.00,0.000,2049,0.108,0.000,856,1969,1974,1974,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.30,50.03
$GC,21,-1.72,-470.6,856,1968,1974,4094,1.0,0.0,1,46,10.02,1.40,-9.75,0.000,18692,0.056,1.272,1783,2469,3039,3039,4094,0,0,0,0,0,0,25.96,24.73,26.03,10.30,49.60
$GC,180,-1.72,-470.6,1782,2469,3043,4094,16.7,-13.5,27,187,0.00,1.33,0.00,0.000,1030,0.000,0.027,1783,1944,3043,3043,4095,0,0,0,0,0,0,26.10,26.06,26.11,10.49,48.42
$GC,219,-1.72,-470.6,1782,1944,3044,4095,22.1,-14.4,33,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1944,3043,3043,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.46,47.83
$GC,257,-1.72,-470.6,1782,1944,3044,4095,27.4,-14.3,39,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1944,3044,3044,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.45,47.75
$GC,295,-1.72,-470.6,1782,1944,3045,4094,32.5,-13.8,45,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1944,3045,3045,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.45,46.77
$GC,332,-1.72,-470.6,1782,1944,3046,4095,37.7,-13.5,51,339,0.00,1.35,0.00,0.000,516,0.000,0.051,1783,1419,3046,3046,4095,0,0,0,0,0,0,26.41,26.11,26.43,10.44,46.96
$GC,395,-1.72,-470.6,1782,1418,3048,4095,45.9,-13.3,61,402,0.00,1.23,0.00,0.000,1030,0.000,0.024,1783,1937,3048,3048,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.42,45.98
$GC,434,-1.72,-470.6,1782,1938,3048,4095,51.0,-13.4,67,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1938,3049,3049,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.41,45.90
$GC,472,-1.72,-470.6,1782,1937,3050,4095,56.1,-13.8,73,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1938,3050,3050,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.40,45.70
$STATE,501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,501,begin apogee
$GC,508,-0.45,0.0,1783,2101,3050,4095,60.6,-14.0,78,544,4.30,0.00,27.35,1.300,10244,0.056,0.000,2186,2101,2484,2484,4095,0,0,0,0,0,0,26.21,25.37,24.37,10.40,45.62
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,545,begin climb
$GC,547,1.72,470.6,2186,2101,2484,4095,63.3,0.0,84,584,7.20,0.00,27.10,1.268,11270,0.034,0.000,2876,2101,1934,1934,4094,0,0,0,0,0,0,25.61,25.75,23.94,10.28,45.03
$GC,616,1.72,470.6,2876,2101,1933,4094,57.7,11.5,95,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2101,1933,1933,4094,0,0,0,0,0,0,25.54,25.56,25.56,10.15,44.09
$GC,654,1.72,470.6,2876,2100,1932,4094,53.1,12.2,101,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2101,1931,1931,4095,0,0,0,0,0,0,25.72,25.73,25.72,10.15,44.48
$GC,692,1.72,470.6,2876,2101,1931,4095,48.2,13.2,107,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2101,1931,1931,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.15,44.48
$GC,730,1.72,470.6,2876,2101,1930,4094,43.3,13.1,113,736,0.00,1.42,0.00,0.000,516,0.000,0.047,2876,1571,1930,1930,4094,0,0,0,0,0,0,25.93,25.63,25.94,10.14,44.99
$GC,834,1.72,470.6,2876,1570,1927,4094,30.8,11.4,130,841,0.00,1.25,0.00,0.000,1030,0.000,0.026,2876,2082,1927,1927,4094,0,0,0,0,0,0,25.90,25.86,25.91,10.15,45.78
$GC,873,1.72,470.6,2876,2083,1926,4094,26.4,12.0,136,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2083,1926,1926,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.14,46.73
$GC,911,1.72,470.6,2875,2083,1925,4095,22.0,11.6,142,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2083,1925,1925,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.15,47.04
$GC,949,1.72,470.6,2875,2083,1924,4094,17.6,11.5,148,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2083,1923,1923,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,47.12
$GC,986,1.72,470.6,2876,2082,1922,4094,13.4,11.1,154,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2083,1922,1922,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.15,48.46
$GC,1024,1.72,470.6,2876,2082,1922,4094,9.3,10.7,160,1031,0.00,1.35,0.00,0.000,516,0.000,0.048,2876,1573,1921,1921,4094,0,0,0,0,0,0,26.30,25.99,26.31,10.17,48.38
$STATE,1091,end climb,FINISH_DEPTH_REACHED
$STATE,1091,begin subsurface finish
$FINISH1,1.8,1.024021,110
$GC,1099,0.17,110.0,2876,2105,1919,4094,1.8,10.3,171,1113,5.25,0.00,-3.83,0.000,20486,0.067,0.000,2399,2107,2361,2361,4094,0,0,0,0,0,0,26.06,25.10,26.14,10.21,49.88
$FINISH2,0.1
$STATE,1113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1114,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,090817,052026
$TT8_MAMPS,0.025466,0.161784
$HUMID,50.86
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.94,19.949
$10V_AH,10.34,23.701
$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,34.225,11.050,54.450,0.000,0.000,49.891,34.572,305.623,0.000,0.000,34.715,452.462,317.757,150.861,668.057,156.851,33.449,341.658,0.000,261.588,0.000,0.541,0.000
$DEVICE_MAMPS,107.865,1272.195,1299.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,14315,173
$CAP_FILE_SIZE,35363,0
$CFSIZE,1024409600,983171072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090817,052832,6048.036,-17337.443,7,0.8,33,7.1,0.3,49.9,10,4.1