version: 66.13
glider: 401
mission: 22
dive: 2939
start: 9 15 117 21 32 48
data:
$ID,401
$MISSION,22
$DIVE,2939
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,150917,211248,5857.2314,-17026.4316,9,1.0,54,8.6,1.4,66.9,9,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-3.9
$GPS2,150917,211248,5857.2314,-17026.4316,9,1.0,54,8.6,1.4,66.9,9,3.2
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,141.6,55735,-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,5,begin dive
$GC,12,-1.80,-487.5,2372,1959,2392,4092,0.0,0.0,0,31,6.12,0.00,-6.90,0.000,20486,0.024,0.000,1764,1961,3055,3055,4094,0,0,0,0,0,0,26.20,24.28,26.22,10.32,52.95
$GC,38,-1.80,-487.5,1764,1960,3055,4094,-0.1,-0.9,3,44,0.00,1.15,0.00,0.000,516,0.000,0.054,1764,1517,3056,3056,4095,0,0,0,0,0,0,26.43,25.92,26.44,10.46,52.24
$GC,116,-1.80,-487.5,1763,1517,3058,4095,9.8,-15.1,15,123,0.00,1.00,0.00,0.000,1030,0.000,0.028,1764,1940,3058,3058,4095,0,0,0,0,0,0,26.20,26.18,26.22,10.46,53.03
$GC,159,-1.80,-487.5,1763,1940,3059,4095,16.3,-14.9,21,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1940,3059,3059,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.47,52.40
$GC,201,-1.80,-487.5,1763,1940,3060,4095,22.5,-15.9,27,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1940,3060,3060,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.46,52.52
$GC,242,-1.80,-487.5,1763,1940,3061,4094,27.8,-12.2,33,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1940,3061,3061,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.43,52.32
$GC,284,-1.80,-487.5,1763,1941,3062,4095,33.4,-13.6,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1941,3062,3062,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.42,51.61
$GC,326,-1.80,-487.5,1763,1941,3063,4095,39.1,-13.6,45,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1941,3063,3063,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.41,51.18
$GC,368,-1.80,-487.5,1763,1941,3064,4095,44.9,-14.0,51,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1941,3065,3065,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.40,50.66
$GC,410,-1.80,-487.5,1763,1941,3066,4095,50.6,-13.8,57,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1941,3066,3066,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.40,50.27
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,453,-0.45,0.0,1764,2141,3067,4095,55.7,-13.9,62,489,4.47,0.00,28.73,1.266,10244,0.054,0.000,2184,2141,2484,2484,4095,0,0,0,0,0,0,26.13,25.15,23.83,10.39,50.07
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,497,1.80,487.5,2184,2141,2484,4095,59.7,0.0,68,539,7.45,0.00,28.27,1.239,11270,0.030,0.000,2900,2141,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,23.44,10.27,49.48
$GC,575,1.80,487.5,2900,2141,1914,4094,53.5,12.3,80,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2141,1914,1914,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.15,48.54
$GC,617,1.80,487.5,2901,2141,1913,4094,47.9,13.1,86,623,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1708,1913,1913,4094,0,0,0,0,0,0,25.92,25.48,25.92,10.15,48.93
$GC,773,1.80,487.5,2900,1708,1908,4094,27.2,13.2,111,780,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2120,1908,1908,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.13,49.52
$GC,816,1.80,487.5,2901,2119,1907,4094,21.7,12.9,117,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1906,1906,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.14,49.52
$GC,858,1.80,487.5,2900,2119,1906,4095,16.8,12.2,123,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1906,1906,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.16,50.86
$GC,899,1.80,487.5,2900,2119,1905,4094,11.2,13.9,129,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1905,1905,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.18,51.96
$GC,941,1.94,576.5,2900,2119,1904,4095,7.2,9.4,135,954,0.28,0.00,6.07,0.522,10246,0.040,0.000,2941,2120,1810,1810,4094,0,0,0,0,0,0,26.24,24.78,24.18,10.18,52.87
$STATE,984,end climb,FINISH_DEPTH_REACHED
$STATE,984,begin subsurface finish
$FINISH1,1.3,1.024453,80
$GC,999,0.12,79.9,2941,2119,1808,4094,1.3,13.0,142,1018,5.65,1.20,-5.78,0.000,20996,0.022,1.222,2374,1709,2391,2391,4094,0,0,0,0,0,0,26.17,23.72,26.22,10.17,53.50
$FINISH2,-0.1
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,150917,195905
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.22
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.44,85.735
$10V_AH,10.27,76.016
$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,23.975,6.575,63.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.028,218.176,143.162,210.872,136.657,0.000,306.287,0.000,220.180,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1221.705,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,10831,145
$CAP_FILE_SIZE,24675,0
$CFSIZE,1024409600,901791744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,211248,5857.231,-17026.432,9,1.0,54,8.6,1.4,66.9,9,3.2