version: 66.13
glider: 401
mission: 22
dive: 797
start: 8 10 117 4 56 44
data:
$ID,401
$MISSION,22
$DIVE,797
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,100817,043500,6058.0142,-17344.3047,7,0.8,16,7.1,0.5,344.7,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-0.3
$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,-0.186888,0.339362
$KALMAN_X,74582.703125,-852.071716,-641.130493,-261324.984375,-16.072327
$KALMAN_Y,-27325.925781,2819.102295,910.610535,213806.531250,107.043457
$MHEAD_RNG_PITCHd_Wd,324.1,12040,-10.9,-10.000,-14.47,7343
$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,-487.5,2389,1946,2361,4092,0.0,0.0,0,18,6.05,0.00,-1.02,0.000,20482,0.025,0.000,1791,1947,2475,2475,4094,0,0,0,0,0,0,26.15,28.83,26.19,10.37,50.86
$GC,22,-1.72,-487.5,1791,1946,2475,4094,0.0,0.0,1,34,0.00,1.48,-5.30,0.000,16644,0.000,1.261,1791,2485,3058,3058,4095,0,0,0,0,0,0,26.35,24.89,26.36,10.39,51.02
$GC,102,-1.72,-487.5,1790,2484,3060,4095,8.9,-15.4,14,109,0.00,1.35,0.00,0.000,1030,0.000,0.028,1791,1951,3060,3060,4095,0,0,0,0,0,0,26.10,26.07,26.12,10.54,51.10
$GC,141,-1.72,-487.5,1790,1951,3061,4095,14.9,-15.5,20,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1951,3062,3062,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.52,51.37
$GC,179,-1.72,-487.5,1790,1951,3062,4094,20.4,-14.4,26,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1951,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.52,50.19
$GC,217,-1.72,-487.5,1790,1951,3064,4095,25.6,-13.6,32,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1951,3064,3064,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.50,49.88
$GC,255,-1.72,-487.5,1790,1951,3064,4095,30.6,-13.1,38,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1951,3064,3064,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.47,50.00
$GC,293,-1.72,-487.5,1790,1950,3066,4095,35.5,-12.6,44,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1951,3066,3066,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.46,49.09
$GC,331,-1.72,-487.5,1790,1951,3067,4094,40.1,-12.0,50,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1951,3066,3066,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.45,48.50
$GC,369,-1.72,-487.5,1790,1951,3067,4094,44.7,-12.2,56,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1951,3067,3067,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.43,48.38
$GC,406,-1.72,-487.5,1790,1951,3068,4095,49.4,-12.2,62,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1952,3068,3068,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.41,47.95
$GC,444,-1.72,-487.5,1790,1951,3069,4095,54.2,-12.5,68,451,0.00,1.38,0.00,0.000,516,0.000,0.052,1791,1414,3069,3069,4094,0,0,0,0,0,0,26.53,26.22,26.54,10.41,46.96
$GC,483,-1.72,-487.5,1790,1414,3069,4094,59.1,-13.1,74,490,0.00,1.30,0.00,0.000,1030,0.000,0.025,1790,1958,3070,3070,4095,0,0,0,0,0,0,26.34,26.32,26.36,10.40,46.73
$STATE,495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,495,begin apogee
$GC,501,-0.45,0.0,1790,2108,3070,4094,60.8,-12.5,76,537,4.20,0.00,28.10,1.288,10244,0.054,0.000,2186,2109,2484,2484,4094,0,0,0,0,0,0,26.26,25.40,24.41,10.40,46.18
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,539,begin climb
$GC,541,1.72,487.5,2186,2108,2484,4094,63.1,0.0,82,583,7.20,0.00,27.77,1.255,11270,0.033,0.000,2878,2109,1915,1915,4094,0,0,0,0,0,0,25.65,25.79,23.99,10.27,45.70
$GC,616,1.72,487.5,2877,2108,1914,4094,56.6,12.5,94,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2109,1913,1913,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.15,44.60
$GC,654,1.72,487.5,2877,2108,1912,4094,51.5,13.4,100,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2109,1912,1912,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.14,44.92
$GC,691,1.72,487.5,2877,2108,1912,4094,46.5,13.0,106,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2109,1911,1911,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.14,44.92
$GC,729,1.72,487.5,2877,2108,1910,4094,41.5,12.7,112,736,0.00,1.45,0.00,0.000,516,0.000,0.047,2878,1570,1910,1910,4094,0,0,0,0,0,0,25.97,25.68,25.98,10.13,44.88
$GC,804,1.72,487.5,2877,1569,1908,4094,31.8,12.8,124,811,0.00,1.27,0.00,0.000,1030,0.000,0.026,2878,2089,1908,1908,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.15,46.14
$GC,843,1.72,487.5,2877,2088,1907,4094,27.0,12.2,130,849,0.00,1.48,0.00,0.000,260,0.000,0.053,2878,2636,1907,1907,4095,0,0,0,0,0,0,26.16,25.86,26.17,10.15,46.85
$GC,881,1.72,487.5,2877,2635,1906,4095,22.3,12.1,136,888,0.00,1.38,0.00,0.000,1030,0.000,0.027,2878,2088,1906,1906,4095,0,0,0,0,0,0,26.00,25.96,26.01,10.17,47.83
$GC,920,1.72,487.5,2877,2088,1905,4095,18.0,11.3,142,927,0.00,1.35,0.00,0.000,516,0.000,0.050,2878,1569,1905,1905,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.17,48.89
$GC,1067,1.72,487.5,2877,1569,1901,4094,2.5,11.0,166,1073,0.00,1.20,0.00,0.000,1030,0.000,0.027,2878,2068,1901,1901,4094,0,0,0,0,0,0,26.17,26.13,26.17,10.24,51.41
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.1,1.024107,104
$GC,1086,0.16,104.0,2878,2075,1900,4094,1.1,10.3,168,1099,4.93,0.00,-3.92,0.000,20486,0.026,0.000,2387,2070,2369,2369,4094,0,0,0,0,0,0,26.17,25.13,26.22,10.24,51.49
$FINISH2,0.3
$STATE,1100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,031934
$TT8_MAMPS,0.025466,0.102613
$HUMID,51.81
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.99,21.490
$10V_AH,10.44,25.090
$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,22.375,14.375,55.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.446,260.945,151.441,247.227,58.344,33.428,338.408,0.000,255.513,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1261.485,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,14285,170
$CAP_FILE_SIZE,30167,0
$CFSIZE,1024409600,980336640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,043500,6058.014,-17344.305,7,0.8,16,7.1,0.5,344.7,11,4.8