version: 66.13
glider: 401
mission: 22
dive: 1960
start: 8 30 117 8 4 27
data:
$ID,401
$MISSION,22
$DIVE,1960
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,300817,074304,6023.9453,-17336.0176,39,0.7,42,7.1,0.4,248.3,11,4.8
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-33.3
$GPS2,300817,080348,6023.8950,-17336.2031,8,0.8,15,7.1,0.0,186.9,10,4.8
$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,147.2,36642,-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,10,-1.82,-585.0,237,1945,1701,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.080,0.000,970,1946,1701,1701,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.29,50.23
$GC,26,-1.82,-585.0,970,1946,1701,4094,0.6,0.0,1,54,8.25,1.15,-13.50,0.000,19204,0.037,1.231,1748,1526,3173,3173,4094,0,0,0,0,0,0,25.84,24.03,25.89,10.29,50.03
$GC,292,-1.82,-585.0,1748,1526,3179,4094,35.7,-14.6,39,301,0.00,1.02,0.00,0.000,1030,0.000,0.025,1748,1961,3180,3180,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.52,48.70
$GC,342,-1.82,-585.0,1747,1961,3180,4095,42.4,-13.8,45,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1961,3181,3181,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.50,47.95
$GC,391,-1.82,-585.0,1748,1961,3181,4094,49.0,-13.4,51,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,1961,3182,3182,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.48,46.57
$GC,440,-1.82,-585.0,1748,1961,3183,4095,55.7,-14.1,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,1961,3182,3182,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.47,46.53
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,481,-0.45,0.0,1748,2141,3184,4094,60.8,-14.2,61,525,4.70,0.00,33.83,1.314,10244,0.052,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.09,25.15,24.06,10.46,46.18
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,531,1.82,585.0,2186,2141,2484,4094,64.7,0.0,66,576,7.65,0.00,33.50,1.282,11270,0.029,0.000,2905,2142,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.69,10.32,45.43
$GC,617,1.82,585.0,2903,2141,1801,4094,57.9,12.8,76,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2141,1801,1801,4094,0,0,0,0,0,0,25.49,25.50,25.50,10.16,44.56
$GC,666,1.82,585.0,2903,2141,1800,4094,51.4,13.5,82,676,0.00,1.12,0.00,0.000,516,0.000,0.043,2904,1721,1799,1799,4094,0,0,0,0,0,0,25.72,25.37,25.74,10.15,44.21
$GC,819,1.82,585.0,2904,1720,1794,4094,31.0,12.0,104,829,0.00,1.00,0.00,0.000,1030,0.000,0.029,2905,2130,1794,1794,4094,0,0,0,0,0,0,25.83,25.81,25.86,10.14,46.22
$GC,868,1.82,585.0,2904,2129,1793,4094,25.1,12.2,110,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2129,1793,1793,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.15,46.37
$GC,916,1.82,585.0,2904,2129,1791,4094,19.0,13.4,116,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2129,1791,1791,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.17,47.04
$GC,963,2.10,776.2,2904,2129,1790,4094,14.4,8.2,122,982,0.88,0.00,11.05,0.679,10246,0.024,0.000,2994,2129,1578,1578,4094,0,0,0,0,0,0,26.06,25.28,24.74,10.20,48.74
$GC,1022,2.10,776.2,2993,2129,1578,4094,8.0,12.6,129,1032,0.00,1.08,0.00,0.000,516,0.000,0.048,2995,1727,1577,1577,4094,0,0,0,0,0,0,26.21,25.79,26.22,10.18,50.15
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1072,begin subsurface finish
$FINISH1,1.5,1.024156,101
$GC,1086,0.15,100.6,2994,2136,1575,4094,1.5,10.5,136,1106,6.32,1.20,-6.93,0.000,20996,0.034,1.247,2385,1718,2373,2373,4094,0,0,0,0,0,0,26.03,24.13,26.08,10.19,51.65
$FINISH2,0.3
$STATE,1107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,075705
$TT8_MAMPS,0.025466,0.238182
$HUMID,52.20
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,23.69,56.797
$10V_AH,10.10,53.377
$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,36.275,8.050,78.375,0.000,0.000,146.601,149.174,422.933,0.000,0.000,17.017,388.485,225.182,116.910,1279.386,349.851,0.000,344.530,0.000,339.326,0.000,0.544,0.000
$DEVICE_MAMPS,80.325,1246.950,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.821,374.899,296.761,439.794,575.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,14364,138
$CAP_FILE_SIZE,31641,0
$CFSIZE,1024409600,923172864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300817,080348,6023.895,-17336.203,8,0.8,15,7.1,0.0,186.9,10,4.8