version: 66.13
glider: 401
mission: 22
dive: 791
start: 8 10 117 2 34 33
data:
$ID,401
$MISSION,22
$DIVE,791
$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,37
$R_STBD_OVSHOOT,23
$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
$GPS1,100817,021204,6056.1572,-17342.6484,6,0.9,19,7.1,0.4,339.9,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.6
$GPS2,100817,021204,6056.1572,-17342.6484,6,0.9,19,7.1,0.4,339.9,9,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.101016,0.388151
$KALMAN_X,75054.140625,-640.966309,-543.236267,-260535.640625,-97.577271
$KALMAN_Y,-27821.322266,2601.446289,671.035095,211318.750000,5.058960
$MHEAD_RNG_PITCHd_Wd,338.3,15786,-10.3,-10.000,-14.00,7986
$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,-1.67,-487.5,2394,1940,2365,4092,0.0,0.0,0,18,5.95,0.00,-1.62,0.000,20482,0.024,0.000,1807,1941,2545,2545,4094,0,0,0,0,0,0,26.14,28.83,26.17,10.37,51.45
$GC,22,-1.67,-487.5,1806,1940,2545,4094,0.0,0.0,1,29,0.00,0.00,-4.68,0.000,16390,0.000,0.000,1806,1940,3057,3057,4095,0,0,0,0,0,0,26.34,25.13,26.34,10.40,51.77
$GC,61,-1.67,-487.5,1805,1940,3057,4095,1.1,-4.2,7,67,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1940,3057,3057,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.52,51.89
$GC,99,-1.67,-487.5,1806,1940,3058,4095,6.0,-13.2,13,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1940,3058,3058,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.53,51.53
$GC,137,-1.67,-487.5,1806,1940,3059,4094,11.9,-16.1,19,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1940,3059,3059,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.53,51.14
$GC,175,-1.67,-487.5,1806,1940,3060,4094,17.3,-14.7,25,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1940,3060,3060,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.51,51.45
$GC,212,-1.67,-487.5,1806,1940,3061,4094,22.1,-12.5,31,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1940,3061,3061,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.48,51.02
$GC,250,-1.67,-487.5,1806,1940,3062,4095,26.7,-12.0,37,257,0.00,1.48,0.00,0.000,260,0.000,0.047,1806,2490,3062,3062,4095,0,0,0,0,0,0,26.48,26.18,26.50,10.45,49.52
$GC,301,-1.67,-487.5,1806,2489,3063,4095,32.7,-12.1,45,308,0.00,1.33,0.00,0.000,1030,0.000,0.027,1806,1960,3063,3063,4095,0,0,0,0,0,0,26.29,26.26,26.32,10.44,48.85
$GC,340,-1.67,-487.5,1806,1959,3064,4095,37.3,-12.2,51,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1959,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.42,48.34
$GC,378,-1.67,-487.5,1806,1959,3065,4095,42.0,-12.6,57,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1960,3064,3064,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,47.83
$GC,416,-1.67,-487.5,1805,1959,3066,4094,46.6,-12.4,63,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1959,3066,3066,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.41,47.51
$GC,454,-1.67,-487.5,1806,1959,3066,4094,51.1,-12.3,69,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1960,3066,3066,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.40,47.83
$GC,492,-1.67,-487.5,1805,1959,3067,4095,55.7,-12.3,75,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,1959,3067,3067,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.39,47.51
$STATE,527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,527,begin apogee
$GC,534,-0.45,0.0,1806,2119,3068,4095,60.1,-11.6,81,573,4.03,0.00,27.80,1.291,10244,0.054,0.000,2186,2119,2485,2485,4094,0,0,0,0,0,0,26.31,25.17,24.46,10.38,47.08
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,575,begin climb
$GC,577,1.67,487.5,2186,2118,2485,4094,62.4,0.0,87,620,7.03,1.38,27.73,1.258,10500,0.033,0.052,2867,2628,1915,1915,4094,0,0,0,0,0,0,25.63,25.56,24.01,10.26,46.65
$GC,670,1.67,487.5,2867,2628,1914,4094,53.4,13.4,102,676,0.00,1.33,0.00,0.000,1030,0.000,0.025,2868,2106,1915,1915,4094,0,0,0,0,0,0,25.52,25.48,25.53,10.13,45.82
$GC,709,1.67,487.5,2867,2106,1913,4094,48.5,12.8,108,715,0.00,1.40,0.00,0.000,516,0.000,0.050,2868,1576,1913,1913,4095,0,0,0,0,0,0,25.84,25.56,25.85,10.13,45.74
$GC,795,1.67,487.5,2867,1576,1911,4095,38.1,11.9,122,802,0.00,1.27,0.00,0.000,1030,0.000,0.027,2868,2094,1911,1911,4095,0,0,0,0,0,0,25.83,25.79,25.85,10.13,46.25
$GC,834,1.67,487.5,2867,2094,1910,4095,33.5,11.8,128,841,0.00,1.50,0.00,0.000,260,0.000,0.054,2868,2648,1910,1910,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.12,46.45
$GC,891,1.67,487.5,2867,2647,1908,4094,26.6,12.1,137,897,0.00,1.33,0.00,0.000,1030,0.000,0.026,2867,2115,1908,1908,4095,0,0,0,0,0,0,25.96,25.95,25.99,10.13,46.96
$GC,930,1.67,487.5,2867,2115,1907,4095,22.0,12.0,143,936,0.00,1.42,0.00,0.000,516,0.000,0.050,2868,1571,1907,1907,4094,0,0,0,0,0,0,26.22,25.92,26.23,10.13,47.67
$GC,980,1.67,487.5,2867,1571,1906,4094,16.1,11.5,151,987,0.00,1.33,0.00,0.000,1030,0.000,0.028,2868,2111,1906,1906,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.14,48.97
$GC,1019,1.69,502.7,2867,2111,1905,4095,12.2,9.8,157,1026,0.00,0.00,2.25,0.116,8198,0.000,0.000,2868,2111,1896,1896,4094,0,0,0,0,0,0,26.31,25.90,25.19,10.17,48.58
$GC,1059,1.75,541.8,2867,2111,1896,4094,8.3,9.5,163,1066,0.10,0.00,3.83,0.390,10246,0.074,0.000,2886,2111,1850,1850,4094,0,0,0,0,0,0,26.14,25.91,25.25,10.19,50.23
$GC,1098,1.75,541.8,2885,2111,1849,4094,4.2,10.6,169,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2111,1849,1849,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.20,51.02
$STATE,1116,end climb,FINISH_DEPTH_REACHED
$STATE,1116,begin subsurface finish
$FINISH1,2.0,1.024101,104
$GC,1123,0.16,104.5,2886,2111,1849,4094,2.0,11.0,172,1137,5.35,0.00,-4.40,0.000,20486,0.067,0.000,2398,2113,2368,2368,4094,0,0,0,0,0,0,26.04,25.10,26.13,10.21,51.41
$FINISH2,0.1
$STATE,1138,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1138,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,020512
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.52
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.01,21.336
$10V_AH,10.44,24.948
$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,22.450,14.500,61.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,455.837,264.779,157.585,253.506,64.287,33.434,352.889,0.000,261.188,0.000,0.542,0.000
$DEVICE_MAMPS,74.205,54.315,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,14247,174
$CAP_FILE_SIZE,33300,0
$CFSIZE,1024409600,980615168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,557.81,0x236164,2,24
$GPS,100817,021204,6056.157,-17342.648,6,0.9,19,7.1,0.4,339.9,9,4.8