version: 66.13
glider: 401
mission: 22
dive: 817
start: 8 10 117 13 15 52
data:
$ID,401
$MISSION,22
$DIVE,817
$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,38
$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
$GPS1,100817,130704,6101.0186,-17346.5898,5,0.9,13,7.0,0.0,244.4,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-43.3
$GPS2,100817,131444,6100.9580,-17346.7109,11,0.8,16,7.0,0.0,240.8,11,4.5
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.038789,0.376406
$KALMAN_X,77216.421875,-815.498901,-370.322571,-266527.718750,-69.390076
$KALMAN_Y,-28661.505859,2887.421631,772.202148,220655.562500,-227.966003
$MHEAD_RNG_PITCHd_Wd,347.1,6187,-11.3,-10.000,-14.80,6938
$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,-462.9,237,1936,1931,4092,0.0,0.0,0,18,7.18,0.00,0.00,0.000,2049,0.101,0.000,845,1935,1931,1931,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.33,50.35
$GC,21,-1.72,-462.9,843,1934,1931,4094,0.8,0.0,1,45,9.95,0.00,-9.90,0.000,18950,0.046,0.000,1782,1935,3028,3028,4095,0,0,0,0,0,0,25.99,25.01,26.06,10.33,50.39
$GC,77,-1.72,-462.9,1781,1934,3029,4095,2.9,-10.9,10,83,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1934,3030,3030,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.57,50.19
$GC,115,-1.72,-462.9,1782,1934,3030,4095,8.4,-15.1,16,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1934,3030,3030,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.57,50.43
$GC,153,-1.72,-462.9,1781,1934,3031,4095,14.2,-14.6,22,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1935,3031,3031,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.56,49.44
$GC,191,-1.72,-462.9,1781,1934,3032,4095,19.7,-15.0,28,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1934,3033,3033,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.56,49.09
$GC,229,-1.72,-462.9,1781,1934,3033,4095,24.7,-13.2,34,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1935,3034,3034,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.53,48.66
$GC,268,-1.76,-487.5,1782,1934,3034,4095,28.3,-8.1,40,274,0.00,0.00,-0.08,0.000,16390,0.000,0.000,1782,1934,3079,3079,4095,0,0,0,0,0,0,26.43,25.50,25.96,10.51,48.14
$GC,307,-1.76,-487.5,1782,1934,3080,4095,31.8,-9.6,46,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1935,3080,3080,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.50,48.26
$GC,344,-1.76,-487.5,1781,1934,3081,4095,36.1,-11.3,52,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1934,3081,3081,4095,0,0,0,0,0,0,26.36,26.37,26.38,10.48,47.12
$GC,383,-1.76,-487.5,1781,1934,3081,4095,40.6,-11.7,58,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1935,3082,3082,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.46,46.06
$GC,420,-1.76,-487.5,1782,1934,3082,4094,45.3,-12.1,64,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1934,3082,3082,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.45,45.86
$GC,458,-1.76,-487.5,1781,1934,3083,4094,50.0,-12.3,70,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1935,3083,3083,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.44,45.19
$GC,496,-1.76,-487.5,1781,1934,3083,4095,54.8,-12.4,76,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1934,3084,3084,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.43,45.27
$GC,534,-1.76,-487.5,1781,1934,3085,4094,59.7,-12.9,82,541,0.00,1.48,0.00,0.000,260,0.000,0.047,1782,2484,3085,3085,4095,0,0,0,0,0,0,26.49,26.19,26.51,10.42,44.92
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,546,begin apogee
$GC,554,-0.45,0.0,1782,2092,3086,4095,61.6,-13.6,84,590,4.28,0.00,28.70,1.296,10246,0.054,0.000,2186,2092,2484,2484,4095,0,0,0,0,0,0,26.20,25.34,24.34,10.42,44.56
$STATE,591,end apogee,CONTROL_FINISHED_OK
$STATE,591,begin climb
$GC,594,1.76,487.5,2186,2091,2483,4095,64.2,0.0,90,635,7.30,0.00,27.88,1.263,10502,0.032,0.000,2886,2092,1915,1915,4094,0,0,0,0,0,0,25.60,24.63,23.96,10.30,44.29
$GC,668,1.76,487.5,2886,2091,1914,4094,57.7,12.2,102,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2092,1914,1914,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.16,43.62
$GC,706,1.76,487.5,2885,2091,1913,4094,52.8,12.8,108,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2092,1913,1913,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.15,43.73
$GC,744,1.76,487.5,2885,2091,1911,4094,47.8,13.1,114,750,0.00,1.33,0.00,0.000,516,0.000,0.047,2886,1589,1912,1912,4094,0,0,0,0,0,0,25.88,25.60,25.89,10.15,43.89
$GC,794,1.76,487.5,2886,1589,1910,4094,41.1,13.1,122,801,0.00,1.25,0.00,0.000,1030,0.000,0.027,2886,2096,1910,1910,4094,0,0,0,0,0,0,25.79,25.76,25.80,10.14,44.76
$GC,835,1.76,487.5,2886,2095,1909,4094,36.0,13.5,128,842,0.00,1.48,0.00,0.000,260,0.000,0.054,2886,2640,1908,1908,4095,0,0,0,0,0,0,26.07,25.77,26.08,10.13,44.92
$GC,880,1.76,487.5,2886,2639,1908,4095,30.0,12.9,135,886,0.00,1.30,0.00,0.000,1030,0.000,0.025,2886,2116,1907,1907,4094,0,0,0,0,0,0,25.94,25.91,25.95,10.13,45.39
$GC,919,1.76,487.5,2886,2115,1907,4094,25.2,12.1,141,925,0.00,1.40,0.00,0.000,516,0.000,0.048,2886,1579,1906,1906,4095,0,0,0,0,0,0,26.19,25.89,26.20,10.15,46.22
$GC,988,1.76,487.5,2886,1578,1904,4095,16.9,11.4,152,994,0.00,1.23,0.00,0.000,1030,0.000,0.027,2886,2083,1905,1905,4095,0,0,0,0,0,0,26.06,26.02,26.08,10.19,47.83
$GC,1026,1.76,487.5,2886,2082,1903,4095,12.5,11.3,158,1033,0.00,1.48,0.00,0.000,260,0.000,0.054,2887,2631,1904,1904,4094,0,0,0,0,0,0,26.30,25.98,26.31,10.21,49.37
$GC,1071,1.76,487.5,2886,2631,1902,4094,7.4,11.4,165,1078,0.00,1.38,0.00,0.000,1030,0.000,0.026,2886,2082,1902,1902,4094,0,0,0,0,0,0,26.12,26.10,26.15,10.23,50.19
$GC,1110,1.86,557.1,2885,2081,1901,4094,4.0,9.0,171,1118,0.25,0.00,4.75,0.439,10246,0.053,0.000,2918,2080,1833,1833,4094,0,0,0,0,0,0,26.13,25.94,25.30,10.24,50.90
$STATE,1130,end climb,FINISH_DEPTH_REACHED
$STATE,1130,begin subsurface finish
$FINISH1,2.0,1.024085,106
$GC,1137,0.16,105.6,2919,2080,1833,4094,2.0,8.9,174,1152,5.75,1.60,-4.03,0.000,20740,0.068,1.278,2397,2641,2367,2367,4095,0,0,0,0,0,0,26.04,24.84,26.13,10.23,50.86
$FINISH2,0.6
$STATE,1153,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1153,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,115639
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.69
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.96,22.039
$10V_AH,10.36,25.587
$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,34.700,14.850,61.325,0.000,0.000,23.833,26.198,248.853,0.000,0.000,17.584,464.513,254.897,176.282,564.216,172.039,33.452,383.639,0.000,265.748,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1278.315,1295.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,14252,176
$CAP_FILE_SIZE,38951,0
$CFSIZE,1024409600,979337216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100817,131444,6100.958,-17346.711,11,0.8,16,7.0,0.0,240.8,11,4.5