version: 66.13
glider: 401
mission: 22
dive: 3039
start: 9 17 117 12 3 7
data:
$ID,401
$MISSION,22
$DIVE,3039
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,170917,112337,5850.3682,-17023.6543,9,0.7,20,8.6,0.9,295.9,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,0.6
$GPS2,170917,112337,5850.3682,-17023.6543,9,0.7,20,8.6,0.9,295.9,12,4.7
$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,136.3,43555,-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,-487.5,2375,1949,2398,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,4097,0.020,0.000,1813,1949,2398,2398,4094,0,0,0,0,0,0,26.53,28.83,28.83,10.33,52.52
$GC,27,-1.80,-487.5,1812,1949,2399,4094,3.0,0.0,1,34,0.28,0.00,-3.35,0.000,20486,0.041,0.000,1776,1949,3060,3060,4095,0,0,0,0,0,0,26.26,24.44,26.28,10.34,52.95
$GC,70,-1.80,-487.5,1776,1949,3061,4095,8.6,-16.3,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1949,3061,3061,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.47,52.71
$GC,112,-1.80,-487.5,1776,1949,3062,4095,15.7,-15.7,13,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1949,3062,3062,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.47,53.54
$GC,154,-1.80,-487.5,1776,1949,3064,4094,22.8,-16.8,19,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1949,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.48,52.75
$GC,196,-1.80,-487.5,1776,1949,3065,4095,28.7,-12.2,25,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1949,3064,3064,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.44,52.52
$GC,237,-1.80,-487.5,1776,1949,3066,4094,33.8,-12.9,31,244,0.00,1.08,0.00,0.000,516,0.000,0.052,1776,1524,3065,3065,4095,0,0,0,0,0,0,26.62,26.06,26.63,10.43,52.28
$GC,310,-1.80,-487.5,1775,1524,3067,4095,43.1,-12.9,42,317,0.00,1.00,0.00,0.000,1030,0.000,0.028,1776,1953,3068,3068,4095,0,0,0,0,0,0,26.33,26.30,26.35,10.41,51.02
$GC,353,-1.80,-487.5,1776,1953,3068,4095,48.7,-13.3,48,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1953,3068,3068,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.40,51.37
$GC,395,-1.80,-487.5,1775,1953,3070,4095,54.4,-13.2,54,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1953,3069,3069,4095,0,0,0,0,0,0,26.68,26.70,26.70,10.40,50.74
$STATE,405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,405,begin apogee
$GC,420,-0.45,0.0,1776,2137,3070,4094,56.7,-13.5,56,456,4.32,0.00,28.90,1.258,10244,0.053,0.000,2185,2138,2483,2483,4094,0,0,0,0,0,0,26.14,25.14,23.82,10.40,50.27
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,457,begin climb
$GC,464,1.80,487.5,2185,2137,2484,4094,60.1,0.0,62,505,7.45,0.00,28.27,1.232,11270,0.031,0.000,2902,2138,1915,1915,4094,0,0,0,0,0,0,25.75,25.93,23.44,10.28,49.48
$GC,541,1.80,487.5,2901,2137,1914,4094,53.5,13.6,74,548,0.00,1.15,0.00,0.000,516,0.000,0.045,2902,1714,1914,1914,4094,0,0,0,0,0,0,25.74,25.33,25.75,10.15,48.30
$GC,662,1.80,487.5,2901,1713,1911,4094,36.3,14.6,93,669,0.00,1.02,0.00,0.000,1030,0.000,0.031,2903,2130,1910,1910,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.14,49.05
$GC,705,1.80,487.5,2902,2129,1909,4094,30.4,14.1,99,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1909,1909,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.14,49.01
$GC,747,1.80,487.5,2902,2130,1908,4094,24.3,14.5,105,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1908,1908,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.15,49.76
$GC,789,1.82,495.7,2901,2130,1907,4095,19.8,10.7,111,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1907,1907,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.17,50.47
$GC,831,1.98,606.4,2902,2130,1906,4094,15.7,9.1,117,845,0.47,1.10,7.65,0.636,10756,0.031,0.044,2959,1712,1776,1776,4094,0,0,0,0,0,0,26.17,25.33,24.16,10.19,51.65
$GC,929,1.98,606.4,2958,1711,1773,4094,4.8,12.0,132,935,0.00,1.00,0.00,0.000,1030,0.000,0.032,2959,2120,1773,1773,4094,0,0,0,0,0,0,26.09,26.05,26.12,10.17,53.03
$STATE,946,end climb,SURFACE_DEPTH_REACHED
$STATE,947,begin surface coast
$FINISH,0.6,1.024497
$STATE,960,end surface coast,CONTROL_FINISHED_OK
$STATE,960,begin surface
$SM_CCo,1071,0.00,0.000,0,0,1771,611.32
$SM_GC,0.63,27.80,0.43,0.00,0.019,0.049,0.000,237,1955,1771,-6.55,1.64,611.32,0,0,0,0,0,0,26.22,26.10,26.25
$IRIDIUM_FIX,5807.44,-16912.56,170917,100658
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.30
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.44,88.519
$10V_AH,10.27,78.223
$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,45.925,7.675,64.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,371.154,270.708,153.093,199.375,148.259,0.000,306.901,0.000,208.557,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,52.020,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333696
$DATA_FILE_SIZE,10761,137
$CAP_FILE_SIZE,26420,0
$CFSIZE,1024409600,896876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170917,122231,5850.454,-17023.205,4,0.7,45,8.6,0.9,315.2,11,4.8