version: 66.13
glider: 401
mission: 22
dive: 1956
start: 8 30 117 6 7 11
data:
$ID,401
$MISSION,22
$DIVE,1956
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,600
$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,20
$R_STBD_OVSHOOT,30
$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,2
$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
$GPS1,300817,052315,6025.3882,-17335.8652,9,0.8,18,7.1,0.0,204.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.9
$GPS2,300817,052315,6025.3882,-17335.8652,9,0.8,18,7.1,0.0,204.5,10,4.7
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$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,149.4,39028,-10.3,-10.526,-13.92,8308
$D_GRID,60
$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,11,-1.82,-585.0,2385,1952,2371,4092,0.0,0.0,0,22,6.38,0.00,-2.08,0.000,20482,0.019,0.000,1761,1952,2594,2594,4094,0,0,0,0,0,0,26.14,28.83,26.21,10.35,54.05
$GC,28,-1.82,-585.0,1761,1952,2594,4094,0.2,0.0,1,37,0.00,1.20,-5.50,0.000,16900,0.000,1.246,1761,1510,3172,3172,4095,0,0,0,0,0,0,26.46,24.27,26.46,10.39,53.93
$GC,230,-1.82,-585.0,1760,1509,3176,4095,24.8,-12.1,30,240,0.00,1.02,0.00,0.000,1030,0.000,0.026,1761,1948,3177,3177,4095,0,0,0,0,0,0,26.25,26.28,26.27,10.48,53.03
$GC,279,-1.82,-585.0,1760,1948,3177,4095,31.1,-13.3,36,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1948,3178,3178,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.47,52.52
$GC,326,-1.82,-585.0,1760,1948,3179,4094,37.2,-12.5,42,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1948,3179,3179,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.45,51.61
$GC,373,-1.82,-585.0,1760,1948,3180,4095,43.2,-13.3,48,381,0.00,1.10,0.00,0.000,260,0.000,0.047,1761,2368,3180,3180,4095,0,0,0,0,0,0,26.59,26.14,26.60,10.44,50.59
$GC,446,-1.82,-585.0,1760,2367,3182,4095,52.8,-12.9,58,456,0.00,1.10,0.00,0.000,1030,0.000,0.031,1761,1924,3182,3182,4095,0,0,0,0,0,0,26.28,26.23,26.34,10.42,49.92
$GC,496,-1.82,-585.0,1760,1923,3183,4095,58.9,-13.1,64,505,0.00,1.00,0.00,0.000,516,0.000,0.051,1760,1525,3183,3183,4095,0,0,0,0,0,0,26.63,26.16,26.64,10.42,49.96
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,513,begin apogee
$GC,526,-0.45,0.0,1760,2130,3183,4095,62.0,-13.1,66,570,4.55,0.00,33.70,1.342,10244,0.052,0.000,2186,2130,2484,2484,4094,0,0,0,0,0,0,26.19,25.21,24.12,10.40,49.84
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,576,1.82,585.0,2186,2130,2484,4094,65.5,0.0,71,620,7.65,0.00,33.50,1.306,11270,0.029,0.000,2903,2130,1802,1802,4095,0,0,0,0,0,0,25.53,25.70,23.70,10.27,48.46
$GC,661,1.82,585.0,2903,2129,1801,4095,60.6,10.8,81,670,0.00,1.12,0.00,0.000,516,0.000,0.046,2904,1719,1801,1801,4094,0,0,0,0,0,0,25.48,25.16,25.50,10.12,46.96
$GC,827,1.82,585.0,2903,1719,1796,4094,38.9,13.4,105,837,0.00,0.95,0.00,0.000,1030,0.000,0.028,2904,2109,1795,1795,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.10,47.67
$GC,875,1.82,585.0,2903,2108,1794,4094,32.3,13.7,111,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2109,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.10,48.81
$GC,922,1.82,585.0,2903,2108,1793,4094,26.1,13.3,117,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2109,1793,1793,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.10,48.42
$GC,968,1.82,585.0,2903,2108,1791,4094,19.9,13.3,123,978,0.00,1.02,0.00,0.000,516,0.000,0.045,2904,1721,1791,1791,4094,0,0,0,0,0,0,26.25,25.82,26.27,10.11,49.56
$GC,1075,1.82,585.0,2903,1720,1788,4094,7.7,11.5,138,1085,0.00,0.90,0.00,0.000,1030,0.000,0.029,2904,2095,1788,1788,4094,0,0,0,0,0,0,26.08,26.04,26.09,10.18,51.89
$GC,1125,1.82,585.0,2903,2095,1787,4094,2.7,10.6,144,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2096,1787,1787,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.19,52.36
$STATE,1141,end climb,SURFACE_DEPTH_REACHED
$STATE,1141,begin surface coast
$FINISH,0.0,1.011562
$STATE,1162,end surface coast,CONTROL_FINISHED_OK
$STATE,1162,begin surface
$SM_CCo,1268,0.00,0.000,0,0,1786,600.16
$SM_GC,0.95,27.73,0.35,0.00,0.020,0.039,0.000,238,1942,1786,-6.55,1.50,600.16,0,0,0,0,0,0,26.17,26.18,26.20
$IRIDIUM_FIX,5952.82,-17420.78,300817,040422
$TT8_MAMPS,0.024717,0.256907
$HUMID,52.99
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.70,56.632
$10V_AH,10.14,53.272
$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,46.300,11.825,67.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,415.068,60.047,131.949,616.551,113.987,0.000,347.131,0.000,361.136,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1246.185,1341.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.883,404.797,320.476,475.240,615.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,14273,149
$CAP_FILE_SIZE,26410,0
$CFSIZE,1024409600,923369472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,062918,6024.514,-17335.822,4,0.8,15,7.1,0.0,240.6,10,4.9