version: 66.13
glider: 401
mission: 22
dive: 793
start: 8 10 117 3 26 18
data:
$ID,401
$MISSION,22
$DIVE,793
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,29
$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
$GPS1,100817,031719,6056.9976,-17343.5742,8,0.8,37,7.1,0.8,247.3,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-40.9
$GPS2,100817,032511,6057.0259,-17343.6895,7,0.7,14,7.1,0.0,309.2,12,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.101107,0.360755
$KALMAN_X,74581.726562,-769.237366,-649.343140,-260798.140625,-98.568054
$KALMAN_Y,-27481.025391,2750.080078,829.487000,212250.718750,59.692688
$MHEAD_RNG_PITCHd_Wd,337.2,13939,-11.4,-10.000,-14.94,6774
$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,9,-1.72,-451.8,229,1938,1902,4092,0.0,0.0,0,18,7.20,0.00,0.00,0.000,2049,0.099,0.000,843,1936,1902,1902,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.32,50.55
$GC,21,-1.72,-451.8,843,1936,1902,4094,0.8,0.0,1,45,9.95,0.00,-10.05,0.000,18438,0.046,0.000,1784,1937,3017,3017,4095,0,0,0,0,0,0,25.98,24.98,26.04,10.32,50.35
$GC,78,-1.72,-451.8,1784,1937,3017,4095,2.9,-10.5,10,84,0.00,1.45,0.00,0.000,260,0.000,0.038,1784,2483,3018,3018,4095,0,0,0,0,0,0,26.24,25.96,26.25,10.56,50.90
$GC,134,-1.72,-451.8,1783,2483,3019,4095,11.4,-15.9,19,141,0.00,1.33,0.00,0.000,1030,0.000,0.026,1784,1952,3019,3019,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.56,50.23
$GC,173,-1.72,-451.8,1784,1952,3020,4094,17.1,-14.5,25,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1952,3020,3020,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.54,49.64
$GC,211,-1.72,-451.8,1784,1952,3021,4094,22.5,-13.8,31,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1952,3021,3021,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.51,48.89
$GC,249,-1.72,-451.8,1784,1952,3022,4094,27.5,-13.5,37,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1952,3023,3023,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.49,48.03
$GC,287,-1.72,-451.8,1783,1952,3023,4095,32.5,-12.9,43,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1952,3023,3023,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.48,47.51
$GC,325,-1.72,-451.8,1783,1952,3024,4095,37.4,-12.8,49,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1952,3024,3024,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.46,46.88
$GC,363,-1.72,-451.8,1784,1952,3025,4095,42.2,-12.6,55,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1951,3025,3025,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.45,46.69
$GC,400,-1.72,-451.8,1784,1951,3025,4095,46.9,-12.4,61,407,0.00,1.38,0.00,0.000,516,0.000,0.051,1784,1416,3026,3026,4094,0,0,0,0,0,0,26.48,26.16,26.49,10.44,46.29
$GC,445,-1.72,-451.8,1784,1416,3027,4094,52.8,-13.0,68,452,0.00,1.23,0.00,0.000,1030,0.000,0.025,1784,1939,3027,3027,4095,0,0,0,0,0,0,26.31,26.28,26.32,10.42,45.55
$GC,484,-1.72,-451.8,1784,1938,3028,4095,57.5,-12.4,74,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1938,3028,3028,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.41,45.35
$STATE,501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,501,begin apogee
$GC,508,-0.45,0.0,1784,2104,3029,4095,60.1,-12.5,77,544,4.25,0.00,26.15,1.280,10244,0.054,0.000,2186,2104,2483,2483,4095,0,0,0,0,0,0,26.23,25.43,24.44,10.40,45.19
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,545,begin climb
$GC,548,1.72,451.8,2186,2104,2483,4095,62.6,0.0,83,585,7.20,0.00,25.77,1.248,11270,0.033,0.000,2877,2104,1957,1957,4094,0,0,0,0,0,0,25.68,25.82,24.03,10.29,44.99
$GC,617,1.72,451.8,2875,2104,1956,4094,56.9,12.0,94,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2104,1956,1956,4094,0,0,0,0,0,0,25.61,25.63,25.62,10.17,44.29
$GC,655,1.72,451.8,2876,2104,1955,4094,51.8,13.8,100,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2104,1955,1955,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.16,44.44
$GC,693,1.72,451.8,2876,2104,1954,4094,46.7,13.2,106,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2104,1954,1954,4095,0,0,0,0,0,0,25.89,25.91,25.91,10.16,44.56
$GC,731,1.72,451.8,2875,2104,1953,4095,42.1,12.0,112,737,0.00,1.42,0.00,0.000,516,0.000,0.047,2876,1572,1953,1953,4094,0,0,0,0,0,0,25.98,25.68,25.99,10.16,44.64
$GC,824,1.72,451.8,2875,1572,1950,4094,30.5,12.4,127,830,0.00,1.27,0.00,0.000,1030,0.000,0.026,2876,2094,1950,1950,4094,0,0,0,0,0,0,25.93,25.90,25.93,10.16,45.98
$GC,862,1.72,451.8,2876,2094,1949,4094,25.8,11.8,133,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2094,1949,1949,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.17,46.33
$GC,900,1.72,451.8,2876,2094,1947,4094,21.3,11.8,139,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2094,1947,1947,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.16,46.96
$GC,938,1.72,451.8,2876,2094,1947,4094,17.0,11.5,145,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2094,1946,1946,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.18,47.36
$GC,976,1.72,451.8,2876,2094,1946,4095,12.9,11.0,151,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2094,1945,1945,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.21,48.62
$GC,1014,1.72,451.8,2876,2094,1945,4094,8.8,10.9,157,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2095,1945,1945,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.23,49.68
$GC,1052,1.72,451.8,2876,2094,1944,4094,4.9,10.6,163,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2094,1943,1943,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.24,50.19
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1082,begin subsurface finish
$FINISH1,1.3,1.024102,104
$GC,1089,0.16,104.4,2876,2094,1942,4094,1.3,11.4,168,1102,4.82,0.00,-3.67,0.000,20486,0.027,0.000,2392,2094,2368,2368,4094,0,0,0,0,0,0,26.16,25.13,26.20,10.26,50.82
$FINISH2,0.1
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1103,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,020704
$TT8_MAMPS,0.025466,0.158039
$HUMID,51.26
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,24.03,21.394
$10V_AH,10.36,24.999
$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,33.425,8.450,51.925,0.000,0.000,26.298,19.346,273.956,0.000,0.000,15.634,444.964,252.193,163.555,568.826,163.637,33.452,361.659,0.000,257.068,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,51.255,1279.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,14323,170
$CAP_FILE_SIZE,35675,0
$CFSIZE,1024409600,980516864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100817,032511,6057.026,-17343.689,7,0.7,14,7.1,0.0,309.2,12,4.8