version: 66.13
glider: 401
mission: 22
dive: 3042
start: 9 17 117 13 15 38
data:
$ID,401
$MISSION,22
$DIVE,3042
$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,43
$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
$GPS1,170917,123515,5850.5327,-17023.1562,7,0.8,29,8.6,0.0,331.7,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-2.3
$GPS2,170917,123515,5850.5327,-17023.1562,7,0.8,29,8.6,0.0,331.7,10,4.9
$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,137.1,43531,-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,-487.5,2374,1936,2398,4092,0.0,0.0,0,23,6.15,0.00,-2.22,0.000,20482,0.021,0.000,1764,1937,2637,2637,4094,0,0,0,0,0,0,26.06,28.83,26.12,10.33,53.26
$GC,30,-1.80,-487.5,1764,1936,2637,4094,0.2,0.0,1,40,0.00,1.27,-3.97,0.000,16644,0.000,1.202,1764,2373,3054,3054,4095,0,0,0,0,0,0,26.41,23.70,26.41,10.38,53.46
$GC,282,-1.80,-487.5,1763,2373,3061,4095,32.4,-12.0,37,292,0.00,1.02,0.00,0.000,1030,0.000,0.031,1764,1965,3061,3061,4094,0,0,0,0,0,0,26.20,26.18,26.23,10.45,52.83
$GC,332,-1.80,-487.5,1763,1964,3062,4094,38.5,-12.6,43,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1965,3062,3062,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.43,51.92
$GC,381,-1.80,-487.5,1763,1964,3063,4094,44.8,-12.8,49,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1965,3064,3064,4095,0,0,0,0,0,0,26.63,26.63,26.63,10.41,51.33
$GC,430,-1.80,-487.5,1763,1965,3065,4095,51.4,-13.6,55,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1965,3065,3065,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.41,50.51
$STATE,454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,454,begin apogee
$GC,468,-0.45,0.0,1764,2144,3066,4094,55.6,-14.0,58,504,4.47,0.00,28.80,1.253,10244,0.053,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.12,25.15,23.83,10.40,50.31
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,506,begin climb
$GC,512,1.80,487.5,2185,2144,2484,4094,59.7,0.0,62,556,7.45,0.00,28.40,1.227,11270,0.029,0.000,2902,2144,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,23.44,10.29,49.17
$GC,599,1.80,487.5,2901,2144,1914,4094,52.7,13.1,72,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1914,1914,4094,0,0,0,0,0,0,25.79,25.80,25.79,10.16,47.95
$GC,649,1.80,487.5,2901,2144,1912,4094,45.6,14.5,78,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2144,1912,1912,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.15,48.07
$GC,700,1.80,487.5,2901,2144,1911,4094,38.2,15.1,84,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2144,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.15,48.30
$GC,750,1.80,487.5,2901,2144,1909,4094,30.5,15.0,90,759,0.00,1.15,0.00,0.000,516,0.000,0.047,2902,1710,1908,1908,4094,0,0,0,0,0,0,26.27,25.79,26.28,10.15,48.34
$GC,948,1.80,487.5,2901,1710,1904,4094,9.6,11.9,118,957,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2125,1904,1904,4094,0,0,0,0,0,0,26.17,26.12,26.19,10.21,52.52
$GC,997,1.83,507.7,2901,2125,1902,4094,4.4,10.5,124,1007,0.00,0.00,2.42,0.143,8198,0.000,0.000,2901,2126,1890,1890,4095,0,0,0,0,0,0,26.54,24.43,23.80,10.22,53.30
$STATE,1014,end climb,SURFACE_DEPTH_REACHED
$STATE,1014,begin surface coast
$FINISH,0.4,1.024505
$STATE,1037,end surface coast,CONTROL_FINISHED_OK
$STATE,1037,begin surface
$SM_CCo,1147,0.00,0.000,0,0,1889,510.87
$SM_GC,0.75,27.10,0.45,0.00,0.019,0.044,0.000,239,1950,1889,-6.55,1.37,510.87,0,0,0,0,0,0,26.27,26.20,26.31
$IRIDIUM_FIX,5807.44,-16912.56,170917,122627
$TT8_MAMPS,0.025466,0.237433
$HUMID,52.44
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.44,88.610
$10V_AH,9.87,78.303
$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,45.175,5.825,59.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,368.770,60.010,114.166,539.442,136.631,0.000,304.882,0.000,316.158,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1201.815,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.993,350.492,277.398,411.406,537.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333668
$DATA_FILE_SIZE,10906,129
$CAP_FILE_SIZE,22137,0
$CFSIZE,1024409600,896729088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170917,133600,5850.556,-17022.355,5,0.8,27,8.6,0.6,66.0,10,4.9