version: 66.13
glider: 401
mission: 22
dive: 917
start: 8 12 117 10 4 26
data:
$ID,401
$MISSION,22
$DIVE,917
$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,19
$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,25
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,43
$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
$GPS1,120817,094255,6115.2354,-17349.2617,6,0.8,37,7.0,0.3,323.0,10,4.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.9
$GPS2,120817,094255,6115.2354,-17349.2617,6,0.8,37,7.0,0.3,323.0,10,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.021875,0.392599
$KALMAN_X,67298.484375,-628.205383,-122.376175,-259467.984375,159.387177
$KALMAN_Y,-46721.000000,2105.579346,803.101746,265916.031250,38.361145
$MHEAD_RNG_PITCHd_Wd,349.8,18031,-11.6,-10.526,-14.99,6893
$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,6,begin dive
$GC,9,-1.78,-483.5,2397,1939,2358,4092,0.0,0.0,0,18,6.45,0.00,-0.35,0.000,20482,0.032,0.000,1776,1940,2396,2396,4094,0,0,0,0,0,0,26.10,28.83,26.15,10.36,50.82
$GC,22,-1.78,-483.5,1776,1939,2396,4094,0.1,0.0,1,34,0.00,0.00,-5.60,0.000,16902,0.000,0.000,1776,1940,3053,3053,4095,0,0,0,0,0,0,26.32,25.60,26.34,10.37,51.26
$GC,66,-1.78,-483.5,1775,1939,3054,4095,4.6,-12.2,8,72,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1940,3054,3054,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.51,50.94
$GC,104,-1.78,-483.5,1775,1939,3055,4094,10.7,-18.0,14,110,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1940,3055,3055,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.51,50.74
$GC,142,-1.78,-483.5,1775,1939,3056,4095,17.2,-15.2,20,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1940,3057,3057,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.52,50.55
$GC,181,-1.78,-483.5,1775,1940,3058,4095,24.1,-19.6,26,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1940,3058,3058,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.51,50.82
$GC,219,-1.78,-483.5,1775,1939,3059,4095,29.4,-12.1,32,225,0.00,1.08,0.00,0.000,516,0.000,0.050,1776,1516,3058,3058,4095,0,0,0,0,0,0,26.39,26.09,26.41,10.47,50.23
$GC,270,-1.78,-483.5,1775,1516,3060,4095,34.9,-11.0,40,276,0.00,1.00,0.00,0.000,1030,0.000,0.025,1776,1945,3060,3060,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.43,49.84
$GC,309,-1.78,-483.5,1776,1945,3061,4094,39.2,-10.9,46,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3061,3061,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,48.38
$GC,347,-1.78,-483.5,1776,1945,3062,4095,43.6,-11.7,52,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3062,3062,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.40,47.67
$GC,385,-1.78,-483.5,1775,1945,3062,4094,48.2,-12.0,58,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.39,47.08
$GC,423,-1.78,-483.5,1775,1945,3063,4095,52.9,-12.9,64,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1946,3063,3063,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.38,46.29
$GC,461,-1.78,-483.5,1775,1945,3064,4095,57.9,-13.3,70,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,46.29
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,486,-0.45,0.0,1775,2137,3064,4095,60.6,-13.1,73,522,4.35,0.00,27.95,1.291,10244,0.054,0.000,2185,2138,2484,2484,4095,0,0,0,0,0,0,26.25,25.38,24.37,10.38,46.88
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,526,1.78,483.5,2185,2137,2484,4095,63.2,0.0,79,568,7.45,0.00,27.60,1.268,11270,0.033,0.000,2891,2138,1919,1919,4094,0,0,0,0,0,0,25.63,25.78,23.96,10.25,45.66
$GC,601,1.78,483.5,2890,2137,1918,4094,56.9,12.4,91,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2138,1918,1918,4094,0,0,0,0,0,0,25.60,25.61,25.61,10.12,44.56
$GC,639,1.78,483.5,2890,2137,1917,4094,52.0,12.4,97,645,0.00,1.15,0.00,0.000,516,0.000,0.043,2891,1708,1917,1917,4094,0,0,0,0,0,0,25.77,25.49,25.77,10.12,44.76
$GC,720,1.78,483.5,2890,1708,1915,4094,41.9,12.3,110,726,0.00,0.95,0.00,0.000,1030,0.000,0.028,2891,2098,1915,1915,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.11,45.66
$GC,759,1.78,483.5,2890,2098,1914,4094,37.1,12.7,116,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2098,1914,1914,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.10,46.65
$GC,797,1.78,483.5,2890,2098,1913,4094,32.2,12.6,122,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2098,1912,1912,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,46.33
$GC,835,1.78,483.5,2890,2098,1911,4094,27.1,13.1,128,842,0.00,1.02,0.00,0.000,516,0.000,0.044,2891,1709,1911,1911,4094,0,0,0,0,0,0,26.17,25.87,26.17,10.10,47.36
$GC,934,1.93,586.4,2890,1709,1910,4094,17.1,9.0,144,948,0.43,0.90,6.57,0.620,11270,0.036,0.027,2937,2091,1798,1798,4094,0,0,0,0,0,0,26.06,26.04,25.04,10.17,48.74
$GC,981,1.96,603.0,2937,2091,1798,4094,12.1,10.3,151,989,0.00,1.25,2.67,0.230,8452,0.000,0.050,2938,2557,1780,1780,4094,0,0,0,0,0,0,26.23,25.86,25.09,10.17,50.94
$GC,1015,1.96,603.0,2937,2557,1779,4094,8.3,11.0,156,1022,0.00,1.20,0.00,0.000,1030,0.000,0.027,2938,2080,1779,1779,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.18,51.49
$GC,1054,1.96,603.0,2937,2079,1777,4094,3.3,13.3,162,1061,0.00,0.95,0.00,0.000,516,0.000,0.053,2938,1714,1777,1777,4094,0,0,0,0,0,0,26.29,25.98,26.30,10.19,51.89
$STATE,1066,end climb,FINISH_DEPTH_REACHED
$STATE,1066,begin subsurface finish
$FINISH1,0.5,1.023990,112
$GC,1075,0.17,112.2,2938,2132,1777,4094,0.5,16.4,164,1095,5.62,1.17,-5.05,0.000,20996,0.037,1.278,2393,1707,2360,2360,4094,0,0,0,0,0,0,26.10,24.78,26.14,10.19,51.81
$FINISH2,0.3
$STATE,1096,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,092811
$TT8_MAMPS,0.025466,0.105609
$HUMID,52.95
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.96,25.053
$10V_AH,10.44,28.268
$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,24.300,12.750,64.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.292,246.232,163.987,243.596,67.309,33.432,353.540,0.000,251.098,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,1278.315,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14273,167
$CAP_FILE_SIZE,31698,0
$CFSIZE,1024409600,974438400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,094255,6115.235,-17349.262,6,0.8,37,7.0,0.3,323.0,10,4.6