version: 66.13
glider: 401
mission: 22
dive: 1961
start: 8 30 117 8 24 57
data:
$ID,401
$MISSION,22
$DIVE,1961
$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,65
$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
$GPS1,300817,080348,6023.8950,-17336.2031,8,0.8,15,7.1,0.0,186.9,10,4.8
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-4.7
$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,11,-1.82,-585.0,2385,2008,2373,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.022,0.000,1833,2008,2373,2373,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.38,51.81
$GC,24,-1.82,-585.0,1832,2007,2373,4095,0.0,0.0,1,37,0.50,1.35,-7.38,0.000,20996,0.033,1.251,1776,1536,3170,3170,4095,0,0,0,0,0,0,26.09,24.22,26.10,10.38,51.96
$GC,212,-1.82,-585.0,1775,1534,3175,4095,26.6,-13.8,31,219,0.00,0.90,0.00,0.000,1030,0.000,0.025,1775,1929,3175,3175,4094,0,0,0,0,0,0,26.20,26.16,26.21,10.52,51.53
$GC,254,-1.82,-585.0,1775,1929,3177,4094,32.0,-13.0,37,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1929,3177,3177,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.49,51.49
$GC,294,-1.82,-585.0,1775,1929,3178,4094,37.4,-13.5,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1929,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.47,50.27
$GC,334,-1.82,-585.0,1775,1930,3178,4095,42.9,-13.6,49,341,0.00,1.12,0.00,0.000,260,0.000,0.043,1776,2362,3179,3179,4094,0,0,0,0,0,0,26.51,26.08,26.52,10.46,49.96
$GC,405,-1.82,-585.0,1775,2362,3180,4094,52.3,-13.0,60,412,0.00,1.00,0.00,0.000,1030,0.000,0.028,1776,1965,3181,3181,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.45,49.44
$GC,447,-1.82,-585.0,1775,1965,3181,4094,57.5,-12.5,66,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1965,3181,3181,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.44,48.38
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,476,-0.45,0.0,1776,2133,3182,4095,60.4,-13.3,69,517,4.40,0.00,33.55,1.305,10244,0.050,0.000,2186,2134,2484,2484,4095,0,0,0,0,0,0,26.15,25.20,24.13,10.43,48.14
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,523,1.82,585.0,2186,2133,2484,4095,63.7,0.0,76,572,7.60,1.12,33.28,1.270,10500,0.029,0.050,2909,2551,1802,1802,4094,0,0,0,0,0,0,25.43,25.37,23.75,10.28,47.59
$GC,582,1.82,585.0,2909,2551,1802,4094,59.8,10.8,85,588,0.00,1.08,0.00,0.000,1030,0.000,0.025,2909,2129,1802,1802,4094,0,0,0,0,0,0,25.12,25.08,25.13,10.14,46.61
$GC,623,1.82,585.0,2909,2130,1801,4094,54.3,13.4,91,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2130,1800,1800,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.13,46.88
$GC,664,1.82,585.0,2909,2130,1799,4094,48.4,14.3,97,670,0.00,1.08,0.00,0.000,516,0.000,0.046,2909,1719,1799,1799,4094,0,0,0,0,0,0,25.76,25.39,25.77,10.12,46.73
$GC,777,1.82,585.0,2909,1719,1796,4094,31.5,14.8,115,784,0.00,0.98,0.00,0.000,1030,0.000,0.029,2909,2118,1795,1795,4094,0,0,0,0,0,0,25.79,25.75,25.82,10.11,47.55
$GC,818,1.82,585.0,2909,2117,1794,4094,25.3,15.8,121,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2118,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.13,47.95
$GC,859,1.82,585.0,2909,2117,1792,4094,19.3,14.8,127,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2118,1792,1792,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.14,48.74
$GC,899,1.82,585.0,2909,2117,1791,4094,14.5,11.2,133,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2118,1791,1791,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.17,49.96
$GC,939,1.82,585.0,2909,2117,1790,4094,10.0,11.2,139,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2118,1789,1789,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.19,51.65
$GC,979,1.82,585.0,2909,2118,1788,4094,5.5,11.3,145,986,0.00,1.05,0.00,0.000,516,0.000,0.047,2909,1721,1788,1788,4094,0,0,0,0,0,0,26.33,25.90,26.34,10.20,51.89
$STATE,1010,end climb,FINISH_DEPTH_REACHED
$STATE,1010,begin subsurface finish
$FINISH1,1.5,1.024156,101
$GC,1023,0.15,100.6,2909,2157,1787,4094,1.5,10.9,150,1037,5.28,0.00,-4.78,0.000,20998,0.017,0.000,2385,2157,2372,2372,4094,0,0,0,0,0,0,26.13,24.44,26.16,10.21,53.03
$FINISH2,0.5
$STATE,1038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,075705
$TT8_MAMPS,0.026215,0.10486
$HUMID,53.11
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.75,56.821
$10V_AH,10.38,53.387
$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,23.375,11.700,66.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,395.968,234.318,141.851,220.863,107.711,0.000,308.495,0.000,230.036,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1250.775,1305.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.585,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330768
$DATA_FILE_SIZE,10815,152
$CAP_FILE_SIZE,26123,0
$CFSIZE,1024409600,923123712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,080348,6023.895,-17336.203,8,0.8,15,7.1,0.0,186.9,10,4.8