version: 66.13
glider: 401
mission: 22
dive: 900
start: 8 12 117 2 59 26
data:
$ID,401
$MISSION,22
$DIVE,900
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,120817,021456,6111.3838,-17348.9746,8,0.7,26,7.0,0.5,169.1,11,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,1.7
$GPS2,120817,021456,6111.3838,-17348.9746,8,0.7,26,7.0,0.5,169.1,11,4.2
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.201357,0.457771
$KALMAN_X,70388.054688,-478.832794,-123.564575,-262435.156250,-163.287308
$KALMAN_Y,-46982.281250,1734.496948,331.279175,259883.093750,-164.381348
$MHEAD_RNG_PITCHd_Wd,16.7,24955,-7.9,-10.526,-11.89,12407
$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,-1.45,-487.5,2397,1947,2357,4092,0.0,0.0,0,20,5.25,0.00,-3.03,0.000,20486,0.024,0.000,1878,1947,3060,3060,4095,0,0,0,0,0,0,26.08,24.96,26.13,10.34,53.38
$GC,23,-1.45,-487.5,1877,1947,3061,4095,6.1,0.0,1,32,0.00,1.10,0.00,0.000,516,0.000,0.058,1878,1524,3061,3061,4095,0,0,0,0,0,0,26.27,25.96,26.29,10.49,53.85
$GC,88,-1.45,-487.5,1877,1524,3061,4095,13.6,-11.3,10,97,0.00,1.02,0.00,0.000,1030,0.000,0.025,1878,1967,3062,3062,4094,0,0,0,0,0,0,26.12,26.13,26.17,10.50,53.15
$GC,134,-1.45,-487.5,1877,1966,3063,4094,19.2,-12.9,16,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1966,3063,3063,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.50,52.95
$GC,180,-1.45,-487.5,1877,1966,3064,4095,23.1,-7.8,22,189,0.00,1.02,0.00,0.000,260,0.000,0.041,1877,2362,3064,3064,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.48,52.36
$GC,222,-1.45,-487.5,1877,2362,3064,4095,26.9,-9.8,27,231,0.00,1.00,0.00,0.000,1030,0.000,0.030,1877,1962,3065,3065,4095,0,0,0,0,0,0,26.25,26.17,26.22,10.44,52.12
$GC,270,-1.45,-487.5,1877,1962,3065,4095,31.5,-9.6,33,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1962,3066,3066,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.41,50.51
$GC,317,-1.45,-487.5,1877,1961,3066,4095,35.5,-8.4,39,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1962,3066,3066,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.40,49.29
$GC,365,-1.45,-487.5,1877,1962,3067,4095,39.9,-9.5,45,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1962,3067,3067,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.38,48.50
$GC,412,-1.45,-487.5,1877,1961,3067,4095,44.4,-9.3,51,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1962,3068,3068,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.38,47.99
$GC,456,-1.45,-487.5,1877,1962,3068,4094,48.4,-8.7,57,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1962,3068,3068,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.37,47.67
$GC,502,-1.45,-487.5,1877,1962,3069,4095,52.3,-8.5,63,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1962,3069,3069,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.37,47.00
$GC,548,-1.45,-487.5,1877,1962,3070,4094,56.4,-9.2,69,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1962,3070,3070,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.35,46.61
$STATE,590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,590,begin apogee
$GC,598,-0.45,0.0,1877,2137,3070,4095,60.4,-9.0,75,633,3.28,0.00,28.33,1.292,10244,0.051,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.32,25.43,24.41,10.35,46.53
$STATE,634,end apogee,CONTROL_FINISHED_OK
$STATE,634,begin climb
$GC,637,1.45,487.5,2185,2137,2484,4094,62.4,0.0,79,682,6.35,1.12,27.98,1.267,10500,0.036,0.051,2787,2557,1914,1914,4094,0,0,0,0,0,0,25.60,25.55,23.96,10.22,46.02
$GC,699,1.84,751.0,2786,2557,1914,4094,59.0,8.3,86,727,1.23,1.08,15.88,1.154,11270,0.025,0.024,2911,2125,1610,1610,4094,0,0,0,0,0,0,25.34,25.33,23.96,10.09,45.90
$GC,766,1.84,751.0,2910,2124,1609,4094,51.6,12.1,94,775,0.00,1.02,0.00,0.000,516,0.000,0.043,2911,1729,1609,1609,4094,0,0,0,0,0,0,25.62,25.35,25.63,10.03,45.15
$GC,870,1.84,751.0,2910,1729,1606,4094,39.1,10.8,109,880,0.00,0.95,0.00,0.000,1030,0.000,0.029,2911,2117,1606,1606,4094,0,0,0,0,0,0,25.73,25.70,25.77,10.01,45.82
$GC,917,1.84,751.0,2910,2117,1605,4094,33.8,11.6,115,926,0.00,1.20,0.00,0.000,260,0.000,0.053,2911,2558,1605,1605,4094,0,0,0,0,0,0,26.03,25.71,26.03,10.01,46.25
$GC,956,1.84,751.0,2910,2557,1604,4094,29.3,11.7,120,966,0.00,1.08,0.00,0.000,1030,0.000,0.026,2911,2121,1604,1604,4094,0,0,0,0,0,0,25.89,25.86,25.89,10.01,46.65
$GC,1003,2.05,889.6,2910,2120,1602,4094,24.7,9.4,126,1022,0.60,1.02,8.60,0.745,10756,0.032,0.041,2979,1722,1448,1448,4094,0,0,0,0,0,0,25.95,25.39,24.82,10.03,47.44
$GC,1066,2.05,889.6,2979,1721,1447,4094,16.9,11.9,134,1075,0.00,0.90,0.00,0.000,1030,0.000,0.028,2980,2096,1447,1447,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.05,48.70
$GC,1112,2.05,889.6,2979,2095,1445,4094,11.3,11.8,140,1121,0.00,1.27,0.00,0.000,260,0.000,0.060,2980,2561,1445,1445,4095,0,0,0,0,0,0,26.16,25.86,26.17,10.07,50.23
$GC,1185,2.05,889.6,2979,2560,1443,4095,4.3,13.3,150,1195,0.00,1.20,0.00,0.000,1030,0.000,0.028,2979,2084,1443,1443,4094,0,0,0,0,0,0,26.03,26.01,26.05,10.09,51.61
$STATE,1202,end climb,SURFACE_DEPTH_REACHED
$STATE,1202,begin surface coast
$FINISH,0.1,1.023938
$STATE,1217,end surface coast,CONTROL_FINISHED_OK
$STATE,1217,begin surface
$SM_CCo,1318,0.00,0.000,0,0,1442,895.52
$SM_GC,0.38,28.55,0.30,0.00,0.022,0.060,0.000,229,1963,1442,-6.59,1.69,895.52,0,0,0,0,0,0,25.98,26.02,26.06
$IRIDIUM_FIX,6149.06,-17422.35,120817,005127
$TT8_MAMPS,0.025466,0.25466
$HUMID,52.79
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.96,24.566
$10V_AH,10.17,27.869
$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,45.250,16.200,80.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.458,59.697,165.845,642.784,75.825,33.420,430.196,0.000,374.597,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,60.435,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.075,418.383,331.155,490.655,639.215,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,14306,154
$CAP_FILE_SIZE,34217,0
$CFSIZE,1024409600,975257600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,032220,6111.787,-17349.629,8,0.8,19,7.0,1.5,325.5,11,4.8