version: 66.13
glider: 401
mission: 22
dive: 2946
start: 9 16 117 0 9 29
data:
$ID,401
$MISSION,22
$DIVE,2946
$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,29
$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,-4.4
$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,-487.5,2373,1949,2397,4092,0.0,0.0,0,30,6.10,0.00,-7.03,0.000,20486,0.023,0.000,1762,1942,3056,3056,4094,0,0,0,0,0,0,26.28,24.28,26.33,10.31,53.42
$GC,37,-1.80,-487.5,1761,1947,3056,4094,-0.2,-0.8,2,46,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3056,3056,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,53.85
$GC,87,-1.80,-487.5,1761,1946,3058,4095,5.1,-16.4,8,95,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1946,3057,3057,4095,0,0,0,0,0,0,26.56,26.57,26.58,10.45,53.93
$GC,136,-1.80,-487.5,1761,1946,3059,4095,12.8,-16.4,14,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3059,3059,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.46,53.03
$GC,185,-1.80,-487.5,1761,1946,3060,4095,20.7,-15.6,20,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1946,3060,3060,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.46,53.15
$GC,234,-1.80,-487.5,1761,1946,3062,4095,28.3,-14.1,26,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1946,3062,3062,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.43,52.87
$GC,283,-1.80,-487.5,1761,1946,3063,4095,35.1,-13.9,32,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1946,3063,3063,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.41,51.73
$GC,333,-1.80,-487.5,1761,1945,3064,4095,42.2,-14.4,38,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3064,3064,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.40,51.10
$GC,381,-1.80,-487.5,1761,1946,3066,4095,48.9,-14.2,44,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1946,3066,3066,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.40,50.90
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,438,-0.45,0.0,1761,2143,3067,4094,55.8,-13.9,50,474,4.53,0.00,28.85,1.269,10246,0.054,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.16,25.15,23.82,10.38,51.18
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,475,begin climb
$GC,482,1.80,487.5,2186,2143,2483,4094,59.9,0.0,54,526,7.43,1.17,28.55,1.244,10756,0.030,0.045,2901,1713,1915,1915,4094,0,0,0,0,0,0,25.73,24.34,23.43,10.27,49.64
$GC,606,1.80,487.5,2900,1713,1912,4094,49.2,13.1,69,616,0.00,1.05,0.00,0.000,1030,0.000,0.029,2901,2135,1912,1912,4094,0,0,0,0,0,0,25.65,25.62,25.67,10.14,48.74
$GC,656,1.80,487.5,2901,2135,1911,4094,41.5,13.4,75,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1911,1911,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.14,49.33
$GC,705,1.80,487.5,2900,2135,1910,4094,35.2,12.9,81,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,49.17
$GC,754,1.80,487.5,2901,2135,1908,4094,28.9,12.9,87,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1908,1908,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.13,49.25
$GC,803,1.80,487.5,2901,2135,1907,4094,22.4,13.8,93,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1906,1906,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.14,49.60
$GC,852,1.80,487.5,2901,2135,1905,4094,16.6,11.0,99,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1905,1905,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.17,50.86
$GC,901,1.80,487.5,2901,2135,1903,4094,11.5,11.5,105,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1903,1903,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.18,51.33
$GC,950,1.80,487.5,2900,2136,1902,4094,4.9,13.4,111,959,0.00,1.10,0.00,0.000,516,0.000,0.047,2901,1718,1902,1902,4094,0,0,0,0,0,0,26.51,25.97,26.51,10.19,51.85
$STATE,973,end climb,SURFACE_DEPTH_REACHED
$STATE,973,begin surface coast
$FINISH,0.2,1.024478
$STATE,988,end surface coast,CONTROL_FINISHED_OK
$STATE,988,begin surface
$SM_CCo,1099,0.00,0.000,0,0,1900,502.28
$SM_GC,0.56,27.25,0.55,0.00,0.018,0.034,0.000,231,1966,1900,-6.59,-1.46,502.28,0,0,0,0,0,0,26.07,26.22,26.14
$IRIDIUM_FIX,5807.44,-16912.56,150917,232156
$TT8_MAMPS,0.025466,0.24717
$HUMID,52.20
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.43,85.922
$10V_AH,9.88,76.175
$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,45.300,4.825,57.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,330.259,60.518,136.408,484.925,158.128,0.000,345.889,0.000,286.417,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,47.430,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,78.409,315.191,249.379,369.733,482.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,10862,116
$CAP_FILE_SIZE,24136,0
$CFSIZE,1024409600,901447680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160917,002859,5858.126,-17024.420,16,0.8,23,8.6,0.7,119.6,10,4.7