version: 66.13
glider: 401
mission: 22
dive: 903
start: 8 12 117 4 18 10
data:
$ID,401
$MISSION,22
$DIVE,903
$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,16
$R_STBD_OVSHOOT,31
$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
$GPS1,120817,033704,6111.6479,-17350.1328,5,0.7,50,7.0,0.9,233.4,12,7.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.5
$GPS2,120817,033704,6111.6479,-17350.1328,5,0.7,50,7.0,0.9,233.4,12,7.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.245162,0.357114
$KALMAN_X,68996.601562,-639.416504,-287.442871,-261816.234375,-216.120453
$KALMAN_Y,-47542.269531,1709.227905,332.323608,260953.000000,-137.018921
$MHEAD_RNG_PITCHd_Wd,27.5,24673,-10.0,-10.526,-13.66,8710
$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,-1.64,-487.5,2405,1960,2363,4092,0.0,0.0,0,18,6.07,0.00,-1.08,0.000,20482,0.031,0.000,1813,1961,2482,2482,4095,0,0,0,0,0,0,26.12,28.83,26.16,10.35,52.99
$GC,22,-1.64,-487.5,1813,1961,2482,4095,0.0,0.0,1,35,0.00,1.23,-5.32,0.000,17156,0.000,1.274,1813,1514,3056,3056,4095,0,0,0,0,0,0,26.32,24.79,26.33,10.38,52.20
$GC,42,-1.64,-487.5,1813,1513,3056,4095,0.2,-0.8,4,49,0.00,1.05,0.00,0.000,1030,0.000,0.028,1813,1949,3056,3056,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.49,53.30
$GC,81,-1.64,-487.5,1813,1955,3057,4095,5.2,-11.5,10,87,0.00,1.15,0.00,0.000,516,0.000,0.053,1813,1512,3056,3056,4095,0,0,0,0,0,0,26.26,25.96,26.27,10.50,52.55
$GC,108,-1.64,-487.5,1813,1512,3058,4095,8.8,-13.3,14,114,0.00,0.98,0.00,0.000,1030,0.000,0.028,1813,1922,3058,3058,4095,0,0,0,0,0,0,26.08,26.06,26.10,10.50,52.04
$GC,147,-1.64,-487.5,1812,1923,3059,4095,14.4,-15.0,20,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,1924,3059,3059,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.51,51.69
$GC,185,-1.64,-487.5,1812,1923,3060,4094,19.5,-12.8,26,191,0.00,1.17,0.00,0.000,260,0.000,0.042,1813,2373,3060,3060,4095,0,0,0,0,0,0,26.35,26.06,26.36,10.50,52.08
$GC,248,-1.64,-487.5,1812,2373,3061,4095,26.7,-11.3,36,254,0.00,1.17,0.00,0.000,1030,0.000,0.030,1813,1907,3061,3061,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.45,51.10
$GC,287,-1.64,-487.5,1812,1907,3062,4095,30.9,-10.2,42,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,1907,3062,3062,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.43,50.07
$GC,325,-1.64,-487.5,1812,1906,3062,4095,35.3,-11.5,48,332,0.00,1.25,0.00,0.000,260,0.000,0.041,1813,2377,3063,3063,4095,0,0,0,0,0,0,26.45,26.15,26.46,10.41,49.33
$GC,352,-1.64,-487.5,1812,2377,3063,4095,38.2,-10.8,52,359,0.00,1.12,0.00,0.000,1030,0.000,0.029,1813,1926,3063,3063,4095,0,0,0,0,0,0,26.25,26.21,26.27,10.40,48.66
$GC,391,-1.64,-487.5,1812,1926,3064,4095,42.8,-11.7,58,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,1926,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.38,48.66
$GC,429,-1.64,-487.5,1812,1926,3065,4094,47.2,-11.5,64,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,1927,3065,3065,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,47.44
$GC,468,-1.64,-487.5,1812,1926,3066,4095,51.7,-11.4,70,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,1926,3066,3066,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,47.04
$GC,506,-1.64,-487.5,1812,1926,3066,4095,56.0,-11.2,76,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,1926,3067,3067,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.37,46.77
$STATE,541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,541,begin apogee
$GC,549,-0.45,0.0,1812,2147,3067,4095,60.4,-11.8,82,585,3.95,0.00,28.00,1.290,10244,0.054,0.000,2184,2147,2484,2484,4095,0,0,0,0,0,0,26.26,25.39,24.38,10.37,47.48
$STATE,586,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,589,1.64,487.5,2184,2146,2485,4095,62.8,0.0,88,630,7.00,0.00,27.85,1.268,11270,0.034,0.000,2855,2147,1915,1915,4094,0,0,0,0,0,0,25.65,25.79,23.94,10.24,45.98
$GC,663,1.64,487.5,2854,2146,1915,4094,57.1,11.0,100,669,0.00,1.17,0.00,0.000,516,0.000,0.042,2855,1711,1914,1914,4094,0,0,0,0,0,0,25.60,25.33,25.60,10.11,45.82
$GC,731,1.64,487.5,2854,1711,1912,4094,48.7,11.9,111,738,0.00,1.00,0.00,0.000,1030,0.000,0.028,2855,2115,1912,1912,4094,0,0,0,0,0,0,25.65,25.62,25.67,10.10,45.58
$GC,771,1.64,487.5,2855,2115,1911,4094,44.1,11.4,117,777,0.00,1.23,0.00,0.000,260,0.000,0.053,2855,2566,1911,1911,4094,0,0,0,0,0,0,25.96,25.65,25.96,10.10,46.18
$GC,803,1.64,487.5,2855,2565,1911,4094,40.2,12.0,122,810,0.00,1.17,0.00,0.000,1030,0.000,0.026,2855,2099,1910,1910,4095,0,0,0,0,0,0,25.82,25.79,25.83,10.09,46.29
$GC,842,1.64,487.5,2855,2099,1910,4095,35.8,11.0,128,849,0.00,1.00,0.00,0.000,516,0.000,0.047,2855,1711,1910,1910,4095,0,0,0,0,0,0,26.08,25.79,26.09,10.08,46.57
$GC,917,1.64,487.5,2855,1710,1908,4095,27.4,11.3,140,924,0.00,0.93,0.00,0.000,1030,0.000,0.028,2855,2096,1907,1907,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.08,46.69
$GC,956,1.64,487.5,2855,2095,1907,4094,22.9,10.8,146,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2096,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.09,47.95
$GC,995,1.80,594.5,2855,2096,1906,4094,19.3,9.3,152,1009,0.38,1.25,6.85,0.654,10500,0.036,0.049,2899,2561,1789,1789,4094,0,0,0,0,0,0,26.04,25.81,25.00,10.13,48.03
$GC,1121,2.11,800.3,2898,2561,1787,4094,7.9,8.1,172,1141,0.93,1.23,11.82,0.651,11270,0.024,0.027,2997,2065,1549,1549,4094,0,0,0,0,0,0,26.09,26.06,25.08,10.17,52.08
$GC,1174,2.11,800.6,2996,2064,1548,4094,3.2,10.5,180,1180,0.00,0.90,0.00,0.000,516,0.000,0.047,2997,1714,1548,1548,4094,0,0,0,0,0,0,26.19,25.90,26.20,10.13,52.16
$STATE,1185,end climb,SURFACE_DEPTH_REACHED
$STATE,1185,begin surface coast
$FINISH,0.0,1.023211
$STATE,1199,end surface coast,CONTROL_FINISHED_OK
$STATE,1199,begin surface
$SM_CCo,1300,0.00,0.000,0,0,1546,806.23
$SM_GC,0.64,28.70,0.57,0.00,0.021,0.029,0.000,230,1970,1546,-6.59,-1.28,806.23,0,0,0,0,0,0,25.94,26.03,26.01
$IRIDIUM_FIX,6149.06,-17422.35,120817,032721
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.22
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.94,24.653
$10V_AH,10.42,27.933
$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,47.025,21.725,74.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,484.287,338.735,197.208,267.190,77.435,33.415,401.219,0.000,275.294,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1274.490,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330844
$DATA_FILE_SIZE,14247,184
$CAP_FILE_SIZE,37400,0
$CFSIZE,1024409600,975110144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,044054,6112.165,-17350.670,8,1.0,27,7.0,1.3,293.9,9,5.0