version: 66.13
glider: 401
mission: 22
dive: 796
start: 8 10 117 4 36 7
data:
$ID,401
$MISSION,22
$DIVE,796
$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,26
$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
$GPS1,100817,042808,6057.9707,-17344.2441,9,0.8,16,7.1,0.2,3.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-41.6
$GPS2,100817,043500,6058.0142,-17344.3047,7,0.8,16,7.1,0.5,344.7,11,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.183828,0.334805
$KALMAN_X,74490.593750,-872.252136,-694.621521,-261147.406250,-18.667297
$KALMAN_Y,-27164.447266,2876.775879,969.011169,213495.281250,110.611450
$MHEAD_RNG_PITCHd_Wd,324.1,12040,-11.1,-10.000,-14.67,7096
$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,-473.7,238,1948,1900,4092,0.0,0.0,0,21,10.07,0.00,0.00,0.000,2049,0.101,0.000,1090,1948,1900,1900,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.31,50.70
$GC,24,-1.72,-473.7,1090,1947,1900,4094,0.8,0.0,1,50,7.32,0.00,-10.10,0.000,18694,0.044,0.000,1781,1948,3039,3039,4095,0,0,0,0,0,0,25.98,25.50,26.06,10.32,51.41
$GC,88,-1.72,-473.7,1780,1948,3040,4095,5.0,-13.8,9,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1948,3040,3040,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.56,50.86
$GC,134,-1.72,-473.7,1780,1948,3041,4094,12.7,-17.5,15,144,0.00,1.45,0.00,0.000,260,0.000,0.047,1781,2482,3042,3042,4094,0,0,0,0,0,0,26.23,25.91,26.24,10.56,50.00
$GC,174,-1.72,-473.7,1780,2482,3043,4094,19.1,-15.1,20,183,0.00,1.35,0.00,0.000,1030,0.000,0.027,1781,1950,3043,3043,4095,0,0,0,0,0,0,26.05,26.03,26.08,10.54,49.68
$GC,220,-1.72,-473.7,1781,1950,3044,4095,25.8,-14.5,26,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1950,3044,3044,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.51,48.58
$GC,267,-1.72,-473.7,1780,1950,3045,4094,32.2,-14.2,32,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1950,3045,3045,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.49,47.71
$GC,314,-1.72,-473.7,1780,1950,3046,4094,38.5,-13.3,38,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1950,3046,3046,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.47,47.28
$GC,360,-1.72,-473.7,1780,1950,3046,4095,44.8,-13.6,44,370,0.00,1.38,0.00,0.000,516,0.000,0.051,1781,1410,3047,3047,4095,0,0,0,0,0,0,26.42,26.13,26.44,10.45,47.16
$GC,408,-1.72,-473.7,1781,1409,3048,4095,51.3,-14.0,50,417,0.00,1.27,0.00,0.000,1030,0.000,0.025,1781,1947,3049,3049,4095,0,0,0,0,0,0,26.25,26.23,26.29,10.43,45.78
$GC,456,-1.72,-473.7,1781,1947,3049,4095,57.6,-13.3,56,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1947,3050,3050,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.42,45.11
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,479,-0.45,0.0,1781,2103,3050,4094,60.4,-13.6,58,515,4.30,0.00,27.35,1.295,10244,0.055,0.000,2185,2103,2484,2484,4094,0,0,0,0,0,0,26.20,25.36,24.37,10.42,45.23
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,518,1.72,473.7,2185,2103,2483,4094,63.3,0.0,62,556,7.28,0.00,27.15,1.261,11270,0.034,0.000,2878,2104,1931,1931,4094,0,0,0,0,0,0,25.62,25.75,23.96,10.30,44.29
$GC,594,1.72,473.7,2878,2103,1930,4094,57.7,11.5,71,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2104,1930,1930,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.17,43.46
$GC,641,1.72,473.7,2877,2103,1928,4094,51.7,13.1,77,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2103,1929,1929,4094,0,0,0,0,0,0,25.79,25.82,25.81,10.16,43.54
$GC,687,1.72,473.7,2878,2103,1927,4094,45.8,12.8,83,697,0.00,1.45,0.00,0.000,516,0.000,0.047,2879,1563,1927,1927,4094,0,0,0,0,0,0,25.92,25.61,25.94,10.16,43.54
$GC,767,1.72,473.7,2878,1563,1925,4094,36.2,12.1,94,777,0.00,1.25,0.00,0.000,1030,0.000,0.025,2879,2076,1925,1925,4094,0,0,0,0,0,0,25.87,25.82,25.88,10.16,44.84
$GC,815,1.72,473.7,2878,2076,1923,4094,30.6,11.8,100,825,0.00,1.52,0.00,0.000,260,0.000,0.053,2879,2641,1924,1924,4094,0,0,0,0,0,0,26.15,25.84,26.15,10.17,45.47
$GC,867,1.72,473.7,2878,2641,1923,4094,24.4,11.6,107,877,0.00,1.42,0.00,0.000,1030,0.000,0.026,2878,2075,1922,1922,4094,0,0,0,0,0,0,26.00,25.97,26.03,10.18,46.73
$GC,914,1.72,473.7,2878,2075,1921,4094,19.6,10.1,113,923,0.00,1.30,0.00,0.000,516,0.000,0.051,2879,1573,1921,1921,4094,0,0,0,0,0,0,26.25,25.98,26.27,10.20,47.28
$GC,1005,1.72,473.7,2878,1572,1919,4094,10.0,10.0,126,1014,0.00,1.17,0.00,0.000,1030,0.000,0.025,2879,2062,1919,1919,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.24,49.80
$GC,1051,1.73,479.7,2878,2062,1918,4095,5.4,9.9,132,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2062,1918,1918,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.25,49.84
$STATE,1080,end climb,FINISH_DEPTH_REACHED
$STATE,1080,begin subsurface finish
$FINISH1,2.0,1.024106,104
$GC,1088,0.16,104.1,2879,2104,1917,4094,2.0,10.7,136,1106,5.12,0.00,-3.78,0.000,20486,0.050,0.000,2390,2104,2361,2361,4094,0,0,0,0,0,0,26.17,25.63,26.22,10.26,50.03
$FINISH2,0.2
$STATE,1107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,031934
$TT8_MAMPS,0.025466,0.238182
$HUMID,50.63
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.96,21.470
$10V_AH,10.19,25.079
$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,34.100,13.975,54.500,0.000,0.000,24.469,20.240,217.676,0.000,0.000,17.326,404.352,0.000,130.522,844.874,158.484,33.453,382.410,0.000,338.413,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,150.705,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.537,374.857,296.715,439.854,574.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,14405,138
$CAP_FILE_SIZE,32365,0
$CFSIZE,1024409600,980385792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100817,043500,6058.014,-17344.305,7,0.8,16,7.1,0.5,344.7,11,4.8