version: 66.13
glider: 401
mission: 22
dive: 1958
start: 8 30 117 7 1 2
data:
$ID,401
$MISSION,22
$DIVE,1958
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,300817,064009,6024.4580,-17335.9355,5,0.9,21,7.1,0.0,248.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-4.0
$GPS2,300817,064009,6024.4580,-17335.9355,5,0.9,21,7.1,0.0,248.4,9,5.0
$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,148.3,37481,-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,-585.0,2386,1952,2372,4092,0.0,0.0,0,22,6.40,0.00,-2.00,0.000,20482,0.021,0.000,1761,1952,2588,2588,4094,0,0,0,0,0,0,26.09,28.83,26.14,10.37,53.26
$GC,27,-1.82,-585.0,1760,1952,2588,4094,0.2,0.0,1,38,0.00,1.25,-5.50,0.000,17156,0.000,1.232,1760,2388,3171,3171,4095,0,0,0,0,0,0,26.36,24.22,26.36,10.40,53.66
$GC,276,-1.82,-585.0,1760,2389,3177,4095,32.0,-13.6,37,286,0.00,1.08,0.00,0.000,1030,0.000,0.030,1760,1956,3177,3177,4094,0,0,0,0,0,0,26.15,26.12,26.19,10.48,52.16
$GC,326,-1.82,-585.0,1760,1956,3178,4094,38.2,-13.2,43,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1956,3178,3178,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.46,50.82
$GC,375,-1.82,-585.0,1760,1956,3179,4094,44.7,-13.0,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1956,3179,3179,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.45,49.37
$GC,425,-1.82,-585.0,1760,1955,3180,4094,51.0,-13.0,55,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1956,3181,3181,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,49.44
$GC,474,-1.82,-585.0,1760,1955,3181,4095,57.6,-12.9,61,483,0.00,1.10,0.00,0.000,516,0.000,0.050,1760,1521,3181,3181,4095,0,0,0,0,0,0,26.57,26.10,26.58,10.42,49.17
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,504,-0.45,0.0,1760,2143,3183,4095,60.8,-13.2,63,547,4.57,0.00,33.58,1.319,10244,0.052,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.15,25.19,24.12,10.42,48.34
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,554,1.82,585.0,2186,2143,2484,4095,64.8,0.0,68,599,7.65,0.00,33.47,1.287,11270,0.029,0.000,2904,2143,1802,1802,4095,0,0,0,0,0,0,25.51,25.67,23.72,10.28,47.99
$GC,639,1.82,585.0,2903,2143,1801,4095,57.8,13.0,78,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2143,1800,1800,4094,0,0,0,0,0,0,25.49,25.51,25.50,10.12,46.65
$GC,688,1.82,585.0,2903,2143,1799,4094,51.0,14.1,84,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2143,1799,1799,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.12,46.18
$GC,738,1.82,585.0,2904,2143,1797,4094,44.3,13.5,90,746,0.00,1.15,0.00,0.000,516,0.000,0.042,2904,1712,1797,1797,4094,0,0,0,0,0,0,25.89,25.51,25.90,10.11,46.88
$GC,890,1.82,585.0,2903,1711,1793,4094,25.8,12.1,112,899,0.00,1.02,0.00,0.000,1030,0.000,0.031,2904,2130,1793,1793,4094,0,0,0,0,0,0,25.89,25.86,25.92,10.12,48.18
$GC,938,1.82,585.0,2903,2130,1792,4094,19.7,12.2,118,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1791,1791,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.15,49.17
$GC,986,1.82,585.0,2903,2129,1790,4094,14.2,11.2,124,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,50.78
$GC,1034,1.82,585.0,2903,2130,1789,4094,8.8,10.8,130,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1788,1788,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.19,51.69
$GC,1082,1.82,585.0,2903,2129,1787,4094,3.6,10.9,136,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1786,1786,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.21,51.96
$STATE,1098,end climb,FINISH_DEPTH_REACHED
$STATE,1098,begin subsurface finish
$FINISH1,1.0,1.024154,101
$GC,1110,0.15,100.8,2903,2133,1786,4094,1.0,11.9,138,1130,5.25,1.15,-5.22,0.000,20996,0.023,1.238,2387,1714,2369,2369,4094,0,0,0,0,0,0,26.12,24.32,26.17,10.21,52.32
$FINISH2,0.1
$STATE,1131,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1131,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,051756
$TT8_MAMPS,0.025466,0.251664
$HUMID,52.63
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.30
$XPDR_PINGS,1
$24V_AH,23.72,56.706
$10V_AH,10.13,53.322
$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,23.875,8.750,67.050,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,389.715,0.000,111.752,587.197,105.550,0.000,334.731,0.000,342.712,0.000,0.544,0.000
$DEVICE_MAMPS,52.020,1237.770,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.320,380.328,301.066,446.612,583.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,14261,140
$CAP_FILE_SIZE,23213,0
$CFSIZE,1024409600,923271168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,064009,6024.458,-17335.936,5,0.9,21,7.1,0.0,248.4,9,5.0