version: 66.13
glider: 401
mission: 22
dive: 2787
start: 9 13 117 9 50 47
data:
$ID,401
$MISSION,22
$DIVE,2787
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,4
$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
$GPS1,130917,091148,5917.1011,-17033.8750,10,0.8,28,8.6,1.0,158.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-3.2
$GPS2,130917,091148,5917.1011,-17033.8750,10,0.8,28,8.6,1.0,158.9,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,157.1,22407,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,13,-1.80,-487.5,2386,1949,2380,4092,0.0,0.0,0,26,6.32,0.00,-4.80,0.000,20482,0.021,0.000,1762,1949,2909,2909,4094,0,0,0,0,0,0,26.21,28.83,26.22,10.33,53.11
$GC,33,-1.80,-487.5,1762,1949,2909,4094,0.2,-5.3,2,40,0.00,0.00,-1.10,0.000,16390,0.000,0.000,1762,1949,3055,3055,4094,0,0,0,0,0,0,26.49,25.51,26.41,10.44,53.07
$GC,76,-1.80,-487.5,1762,1949,3057,4094,5.5,-14.1,8,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1949,3057,3057,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.47,53.34
$GC,117,-1.80,-487.5,1762,1949,3058,4095,12.7,-17.5,14,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1949,3058,3058,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.48,53.11
$GC,159,-1.80,-487.5,1762,1949,3059,4095,20.4,-18.5,20,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3060,3060,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.49,53.74
$GC,201,-1.80,-487.5,1762,1949,3060,4095,27.5,-16.2,26,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1949,3061,3061,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.45,52.59
$GC,243,-1.80,-487.5,1762,1949,3062,4095,33.3,-13.5,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1949,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.42,52.24
$GC,284,-1.80,-487.5,1762,1949,3063,4094,39.0,-13.7,38,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1949,3063,3063,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.41,51.96
$GC,326,-1.80,-487.5,1762,1949,3064,4094,44.8,-14.2,44,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1949,3064,3064,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.40,50.74
$GC,368,-1.80,-487.5,1762,1949,3065,4095,50.8,-14.0,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1949,3065,3065,4095,0,0,0,0,0,0,26.63,26.64,26.63,10.40,50.86
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,412,-0.45,0.0,1762,2147,3066,4094,55.9,-14.0,55,448,4.57,0.00,28.50,1.268,10246,0.055,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.12,25.18,23.87,10.39,50.07
$STATE,449,end apogee,CONTROL_FINISHED_OK
$STATE,449,begin climb
$GC,455,1.80,487.5,2185,2146,2484,4094,59.9,0.0,61,497,7.55,0.00,28.17,1.245,10246,0.030,0.000,2899,2147,1916,1916,4094,0,0,0,0,0,0,25.69,24.69,23.49,10.27,49.44
$GC,533,1.80,487.5,2898,2146,1915,4094,54.1,12.4,73,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2147,1915,1915,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.15,48.03
$GC,575,1.80,487.5,2898,2146,1914,4094,48.7,13.2,79,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2147,1914,1914,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.14,48.30
$GC,616,1.80,487.5,2898,2146,1912,4094,43.2,13.5,85,623,0.00,1.17,0.00,0.000,516,0.000,0.046,2899,1709,1912,1912,4094,0,0,0,0,0,0,26.03,25.60,26.05,10.13,48.34
$GC,749,1.80,487.5,2898,1708,1908,4094,25.5,13.6,106,755,0.00,1.05,0.00,0.000,1030,0.000,0.031,2899,2134,1909,1909,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.12,49.13
$GC,792,1.87,529.6,2898,2134,1907,4094,20.5,10.1,112,799,0.15,0.00,3.80,0.447,10246,0.057,0.000,2925,2134,1866,1866,4094,0,0,0,0,0,0,26.13,25.07,23.91,10.16,50.39
$GC,836,1.87,530.8,2924,2134,1865,4094,15.9,10.8,118,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2134,1865,1865,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.17,51.18
$GC,877,1.87,530.8,2924,2134,1863,4094,10.4,12.8,124,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2134,1863,1863,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.18,52.83
$GC,919,1.87,530.8,2924,2133,1862,4094,5.5,12.2,130,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2134,1862,1862,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.19,52.79
$STATE,948,end climb,SURFACE_DEPTH_REACHED
$STATE,948,begin surface coast
$FINISH,-0.1,1.003805
$STATE,962,end surface coast,CONTROL_FINISHED_OK
$STATE,962,begin surface
$SM_CCo,1072,0.00,0.000,0,0,1861,536.62
$SM_GC,0.78,28.08,0.50,0.00,0.020,0.044,0.000,231,1944,1861,-6.59,0.96,536.62,0,0,0,0,0,0,26.03,26.11,26.11
$IRIDIUM_FIX,5957.10,-16911.74,130917,075628
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.50
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.49,81.379
$10V_AH,10.29,72.612
$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,46.675,3.725,60.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,368.267,267.065,156.299,199.079,152.627,0.000,312.246,0.000,208.767,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,47.430,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,10848,137
$CAP_FILE_SIZE,26043,0
$CFSIZE,1024409600,909246464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,101007,5916.772,-17033.039,34,1.2,40,8.6,0.6,156.1,9,4.7