version: 66.13
glider: 401
mission: 22
dive: 1959
start: 8 30 117 7 21 55
data:
$ID,401
$MISSION,22
$DIVE,1959
$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,29
$R_STBD_OVSHOOT,50
$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,0.07
$_SM_ANGLEo,-2.4
$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,-585.0,2387,1982,2369,4092,0.0,0.0,0,25,6.38,0.00,-4.68,0.000,20482,0.021,0.000,1758,1979,2873,2873,4095,0,0,0,0,0,0,26.13,28.83,26.15,10.36,53.58
$GC,30,-1.82,-585.0,1757,1984,2873,4095,0.1,-2.6,2,38,0.00,1.08,-2.88,0.000,16644,0.000,1.238,1758,2350,3171,3171,4095,0,0,0,0,0,0,26.37,24.24,26.36,10.46,52.91
$GC,47,-1.82,-585.0,1757,2350,3171,4095,0.1,-0.1,4,54,0.00,1.00,0.00,0.000,1030,0.000,0.035,1758,1963,3172,3172,4095,0,0,0,0,0,0,26.01,25.97,26.05,10.53,53.34
$GC,88,-1.82,-585.0,1757,1963,3173,4095,4.0,-13.0,10,95,0.00,1.15,0.00,0.000,516,0.000,0.051,1757,1514,3173,3173,4095,0,0,0,0,0,0,26.36,25.94,26.38,10.54,53.50
$GC,294,-1.82,-585.0,1757,1513,3178,4095,35.6,-13.8,43,300,0.00,0.95,0.00,0.000,1030,0.000,0.026,1758,1921,3178,3178,4094,0,0,0,0,0,0,26.24,26.21,26.25,10.47,51.41
$GC,335,-1.82,-585.0,1757,1921,3180,4094,41.4,-13.9,49,341,0.00,1.17,0.00,0.000,260,0.000,0.045,1758,2372,3180,3180,4095,0,0,0,0,0,0,26.52,26.08,26.53,10.45,50.78
$GC,418,-1.82,-585.0,1757,2372,3182,4095,52.3,-12.9,62,424,0.00,1.08,0.00,0.000,1030,0.000,0.031,1757,1941,3182,3182,4095,0,0,0,0,0,0,26.23,26.20,26.26,10.43,49.72
$GC,459,-1.82,-585.0,1757,1941,3182,4095,57.6,-12.9,68,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1941,3182,3182,4094,0,0,0,0,0,0,26.57,26.59,26.58,10.42,49.25
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,488,-0.45,0.0,1757,2143,3182,4095,60.5,-13.2,71,530,4.57,0.00,33.60,1.318,10244,0.051,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.15,25.19,24.13,10.42,48.97
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,536,1.82,585.0,2185,2143,2484,4094,63.8,0.0,78,584,7.60,1.12,33.28,1.281,10500,0.028,0.050,2906,2563,1802,1802,4094,0,0,0,0,0,0,25.41,25.36,23.72,10.28,48.54
$GC,594,1.82,585.0,2905,2562,1802,4094,60.0,11.2,87,601,0.00,1.10,0.00,0.000,1030,0.000,0.025,2906,2135,1802,1802,4095,0,0,0,0,0,0,25.09,25.06,25.10,10.13,47.40
$GC,636,1.82,585.0,2906,2135,1801,4095,54.6,13.7,93,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2135,1801,1801,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.12,46.69
$GC,676,1.82,585.0,2906,2135,1799,4094,48.9,14.0,99,683,0.00,1.10,0.00,0.000,516,0.000,0.046,2907,1717,1799,1799,4094,0,0,0,0,0,0,25.74,25.37,25.75,10.11,47.16
$GC,865,1.82,585.0,2906,1717,1793,4094,24.8,11.5,129,872,0.00,1.00,0.00,0.000,1030,0.000,0.031,2906,2122,1793,1793,4094,0,0,0,0,0,0,25.88,25.85,25.91,10.13,49.17
$GC,906,1.82,585.0,2906,2121,1792,4094,19.2,13.7,135,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2122,1791,1791,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.15,50.63
$GC,947,1.82,585.0,2906,2121,1790,4094,14.7,10.7,141,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2122,1790,1790,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.16,51.89
$GC,987,1.94,665.9,2906,2121,1789,4094,10.8,9.5,147,1000,0.30,0.00,5.47,0.516,10246,0.037,0.000,2942,2122,1706,1706,4094,0,0,0,0,0,0,26.08,25.25,24.69,10.19,52.20
$GC,1035,1.94,665.9,2942,2121,1704,4094,5.6,10.9,154,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2121,1704,1704,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,52.63
$STATE,1064,end climb,SURFACE_DEPTH_REACHED
$STATE,1064,begin surface coast
$FINISH,0.0,1.004198
$STATE,1077,end surface coast,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$SM_CCo,1184,0.00,0.000,0,0,1702,671.43
$SM_GC,0.71,28.10,0.43,0.00,0.019,0.038,0.000,238,1946,1702,-6.55,1.59,671.43,0,0,0,0,0,0,26.10,26.06,26.14
$IRIDIUM_FIX,5952.82,-17420.78,300817,051756
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.62
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.72,56.732
$10V_AH,10.35,53.333
$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,46.950,12.250,72.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,423.464,318.255,161.792,234.494,115.909,0.000,331.185,0.000,242.759,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1237.770,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,10916,161
$CAP_FILE_SIZE,27779,0
$CFSIZE,1024409600,923222016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,074304,6023.945,-17336.018,39,0.7,42,7.1,0.4,248.3,11,4.8