version: 66.13
glider: 401
mission: 22
dive: 2945
start: 9 15 117 23 50 32
data:
$ID,401
$MISSION,22
$DIVE,2945
$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,17
$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
$GPS1,150917,232933,5858.0630,-17025.6230,5,0.9,22,8.6,0.7,335.6,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-4.6
$GPS2,150917,232933,5858.0630,-17025.6230,5,0.9,22,8.6,0.7,335.6,10,5.0
$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,143.0,56701,-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,-487.5,2384,1956,2397,4092,0.0,0.0,0,19,5.70,0.00,0.00,0.000,4097,0.025,0.000,1815,1956,2397,2397,4095,0,0,0,0,0,0,26.48,28.83,28.83,10.32,52.16
$GC,26,-1.80,-487.5,1815,1956,2397,4095,0.1,0.0,1,40,0.30,1.25,-6.12,0.000,20996,0.042,1.229,1777,1517,3055,3055,4095,0,0,0,0,0,0,26.20,23.73,26.21,10.32,52.55
$GC,124,-1.80,-487.5,1777,1517,3058,4095,12.9,-20.2,16,131,0.00,1.02,0.00,0.000,1030,0.000,0.027,1777,1953,3058,3058,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.46,52.20
$GC,167,-1.80,-487.5,1776,1953,3059,4094,19.8,-15.4,22,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1953,3059,3059,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.46,52.36
$GC,208,-1.80,-487.5,1776,1953,3060,4094,25.4,-12.8,28,215,0.00,1.08,0.00,0.000,260,0.000,0.044,1776,2365,3060,3060,4094,0,0,0,0,0,0,26.53,26.04,26.55,10.44,52.04
$GC,293,-1.80,-487.5,1776,2366,3062,4094,36.4,-13.3,41,300,0.00,1.08,0.00,0.000,1030,0.000,0.031,1776,1934,3062,3062,4095,0,0,0,0,0,0,26.20,26.16,26.24,10.42,51.29
$GC,336,-1.80,-487.5,1776,1933,3064,4095,42.3,-13.5,47,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1934,3063,3063,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.41,50.59
$GC,378,-1.80,-487.5,1776,1934,3064,4094,48.1,-13.8,53,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1934,3065,3065,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.40,50.39
$GC,419,-1.80,-487.5,1776,1934,3065,4094,53.9,-14.3,59,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1934,3066,3066,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.40,50.15
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,430,begin apogee
$GC,445,-0.45,0.0,1776,2137,3066,4095,56.1,-13.4,61,481,4.32,0.00,28.62,1.261,10244,0.053,0.000,2185,2137,2484,2484,4094,0,0,0,0,0,0,26.12,25.14,23.82,10.39,50.59
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,488,1.80,487.5,2185,2137,2484,4094,59.9,0.0,67,530,7.43,0.00,28.33,1.236,11270,0.030,0.000,2900,2137,1916,1916,4094,0,0,0,0,0,0,25.71,25.89,23.44,10.28,49.48
$GC,566,1.80,487.5,2899,2137,1915,4094,53.7,12.3,79,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2137,1914,1914,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.15,48.93
$GC,608,1.80,487.5,2899,2137,1913,4094,47.9,13.6,85,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2137,1913,1913,4095,0,0,0,0,0,0,25.91,25.92,25.92,10.15,48.38
$GC,650,1.80,487.5,2899,2137,1912,4095,42.4,12.7,91,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2137,1912,1912,4095,0,0,0,0,0,0,26.06,26.07,26.07,10.14,48.93
$GC,691,1.80,487.5,2899,2137,1911,4095,37.2,12.9,97,698,0.00,1.12,0.00,0.000,516,0.000,0.047,2900,1715,1911,1911,4094,0,0,0,0,0,0,26.16,25.70,26.17,10.14,49.33
$GC,794,1.80,487.5,2899,1715,1908,4094,24.1,12.4,113,801,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2136,1908,1908,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.14,49.29
$GC,837,1.80,487.5,2899,2135,1907,4094,19.1,11.4,119,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1907,1907,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.16,50.07
$GC,879,1.83,501.9,2900,2135,1906,4094,14.6,10.6,125,885,0.00,0.00,0.45,0.003,8198,0.000,0.000,2900,2135,1906,1906,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.17,51.22
$GC,921,1.83,501.9,2900,2135,1905,4094,9.8,11.5,131,928,0.00,0.00,2.20,0.093,8198,0.000,0.000,2900,2136,1897,1897,4095,0,0,0,0,0,0,26.48,24.81,23.63,10.18,52.24
$GC,964,1.83,501.9,2900,2135,1896,4095,4.9,12.3,137,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1897,1897,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.18,52.71
$STATE,981,end climb,FINISH_DEPTH_REACHED
$STATE,981,begin subsurface finish
$FINISH1,1.6,1.024475,78
$GC,996,0.12,78.4,2900,2144,1895,4094,1.6,13.5,140,1010,5.25,0.00,-4.68,0.000,20486,0.024,0.000,2373,2136,2397,2397,4095,0,0,0,0,0,0,26.22,24.39,26.27,10.19,52.63
$FINISH2,0.1
$STATE,1011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,150917,232156
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.03
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.44,85.901
$10V_AH,10.27,76.147
$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,23.000,7.575,59.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.367,214.263,135.976,206.317,142.495,0.000,297.004,0.000,215.893,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1229.355,1260.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,10871,142
$CAP_FILE_SIZE,25885,0
$CFSIZE,1024409600,901496832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,232933,5858.063,-17025.623,5,0.9,22,8.6,0.7,335.6,10,5.0