version: 66.13
glider: 401
mission: 22
dive: 905
start: 8 12 117 5 10 13
data:
$ID,401
$MISSION,22
$DIVE,905
$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,57
$R_STBD_OVSHOOT,72
$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
$GPS1,120817,044835,6112.1465,-17350.9395,5,1.1,32,7.0,1.3,192.7,9,4.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.3
$GPS2,120817,044835,6112.1465,-17350.9395,5,1.1,32,7.0,1.3,192.7,9,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.254304,0.336335
$KALMAN_X,68009.929688,-773.415894,-412.846985,-261332.234375,-180.330353
$KALMAN_Y,-47349.609375,1705.587158,350.095856,261673.281250,12.350281
$MHEAD_RNG_PITCHd_Wd,30.1,23941,-10.4,-10.526,-14.02,8158
$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,-1.68,-487.5,2394,1999,2355,4092,0.0,0.0,0,18,5.95,0.00,-1.00,0.000,20482,0.018,0.000,1799,2001,2471,2471,4094,0,0,0,0,0,0,26.12,28.83,26.16,10.35,52.75
$GC,22,-1.68,-487.5,1800,2000,2471,4094,0.2,0.0,1,35,0.00,1.20,-4.97,0.000,16900,0.000,1.268,1800,1550,3059,3059,4095,0,0,0,0,0,0,26.31,24.79,26.32,10.37,52.08
$GC,91,-1.68,-487.5,1799,1549,3061,4095,8.4,-10.3,12,98,0.00,0.85,0.00,0.000,1030,0.000,0.024,1800,1933,3061,3061,4094,0,0,0,0,0,0,26.07,26.05,26.08,10.50,51.81
$GC,130,-1.68,-487.5,1799,1932,3062,4094,14.1,-14.3,18,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1933,3062,3062,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.51,51.73
$GC,168,-1.68,-487.5,1799,1932,3063,4094,20.3,-17.1,24,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1933,3063,3063,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.51,51.89
$GC,207,-1.68,-487.5,1799,1934,3063,4094,24.7,-10.2,30,214,0.00,1.10,0.00,0.000,260,0.000,0.042,1800,2355,3064,3064,4095,0,0,0,0,0,0,26.36,26.08,26.37,10.48,51.92
$GC,282,-1.68,-487.5,1799,2355,3065,4095,33.4,-11.8,42,288,0.00,0.95,0.00,0.000,1030,0.000,0.028,1800,1977,3066,3066,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.42,50.39
$GC,321,-1.68,-487.5,1799,1978,3066,4095,37.7,-10.6,48,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1978,3066,3066,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.41,48.70
$GC,359,-1.68,-487.5,1799,1977,3067,4094,42.1,-11.8,54,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1978,3067,3067,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.38,48.30
$GC,397,-1.68,-487.5,1799,1977,3067,4094,46.8,-12.8,60,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1977,3068,3068,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.38,47.40
$GC,435,-1.68,-487.5,1799,1977,3068,4095,51.4,-12.3,66,442,0.00,1.15,0.00,0.000,516,0.000,0.050,1800,1521,3069,3069,4095,0,0,0,0,0,0,26.50,26.20,26.51,10.38,47.08
$GC,468,-1.68,-487.5,1799,1521,3069,4095,55.5,-12.7,71,475,0.00,0.93,0.00,0.000,1030,0.000,0.025,1800,1928,3069,3069,4094,0,0,0,0,0,0,26.32,26.29,26.33,10.38,47.44
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,512,-0.45,0.0,1800,2131,3070,4094,60.2,-12.2,77,548,4.10,0.00,28.20,1.289,10244,0.054,0.000,2184,2131,2484,2484,4094,0,0,0,0,0,0,26.24,25.37,24.37,10.37,46.73
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,552,1.68,487.5,2184,2131,2484,4094,62.7,0.0,83,593,7.05,0.00,27.85,1.268,11270,0.034,0.000,2865,2131,1916,1916,4094,0,0,0,0,0,0,25.61,25.77,23.94,10.24,46.53
$GC,626,1.68,487.5,2864,2131,1915,4094,56.9,11.7,95,633,0.00,1.12,0.00,0.000,516,0.000,0.042,2865,1708,1915,1915,4093,0,0,0,0,0,0,25.59,25.32,25.60,10.11,45.51
$GC,713,1.68,487.5,2864,1708,1913,4093,46.2,12.2,109,719,0.00,0.98,0.00,0.000,1030,0.000,0.028,2865,2106,1913,1913,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.10,45.74
$GC,752,1.68,487.5,2864,2106,1912,4094,41.6,11.9,115,758,0.00,1.25,0.00,0.000,260,0.000,0.052,2865,2566,1912,1912,4095,0,0,0,0,0,0,25.98,25.68,25.99,10.09,46.02
$GC,779,1.68,487.5,2864,2566,1911,4095,38.2,12.5,119,785,0.00,1.12,0.00,0.000,1030,0.000,0.026,2865,2113,1911,1911,4095,0,0,0,0,0,0,25.84,25.81,25.85,10.09,45.98
$GC,818,1.68,487.5,2864,2113,1910,4095,33.4,12.1,125,825,0.00,1.02,0.00,0.000,516,0.000,0.045,2865,1716,1910,1910,4094,0,0,0,0,0,0,26.09,25.80,26.10,10.09,46.37
$GC,869,1.68,487.5,2864,1716,1908,4094,27.8,10.9,133,876,0.00,1.00,0.00,0.000,1030,0.000,0.028,2865,2124,1909,1909,4094,0,0,0,0,0,0,25.95,25.91,25.97,10.09,46.49
$GC,908,1.68,487.5,2864,2124,1907,4094,23.0,12.5,139,915,0.00,1.17,0.00,0.000,260,0.000,0.054,2865,2560,1907,1907,4094,0,0,0,0,0,0,26.21,25.90,26.22,10.10,47.55
$GC,1146,2.20,835.3,2864,2560,1902,4094,2.4,6.2,178,1155,1.58,1.08,3.15,0.277,11266,0.023,0.030,3028,2103,1872,1872,4094,0,0,0,0,0,0,26.19,26.22,26.23,10.21,53.74
$STATE,1156,end climb,FINISH_DEPTH_REACHED
$STATE,1156,begin subsurface finish
$FINISH1,1.8,1.023962,114
$GC,1165,0.17,114.2,3028,2161,1872,4094,1.8,7.1,179,1184,6.43,1.15,-4.28,0.000,21252,0.026,1.291,2399,1747,2356,2356,4094,0,0,0,0,0,0,26.17,24.86,26.20,10.21,54.01
$FINISH2,0.2
$STATE,1185,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1185,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,033015
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.50
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.94,24.714
$10V_AH,10.42,27.982
$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,25.100,17.150,59.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,472.362,295.123,149.235,264.411,62.716,33.430,340.674,0.000,272.446,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1290.555,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,14285,182
$CAP_FILE_SIZE,31397,0
$CFSIZE,1024409600,975028224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,044835,6112.146,-17350.939,5,1.1,32,7.0,1.3,192.7,9,4.8