version: 66.13
glider: 401
mission: 22
dive: 1963
start: 8 30 117 9 15 34
data:
$ID,401
$MISSION,22
$DIVE,1963
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,300817,090458,6023.4341,-17336.0215,4,0.8,16,7.1,0.0,314.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-36.7
$GPS2,300817,091455,6023.4385,-17336.1016,5,0.9,22,7.1,0.3,269.9,9,4.9
$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,146.8,35841,-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,-585.0,237,1947,1728,4092,0.0,0.0,0,18,5.55,0.00,0.00,0.000,2049,0.090,0.000,710,1947,1728,1728,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.27,51.69
$GC,23,-1.82,-585.0,710,1947,1728,4094,0.7,0.0,1,55,11.10,1.23,-13.30,0.000,19204,0.041,1.250,1752,1516,3172,3172,4094,0,0,0,0,0,0,25.91,24.02,25.98,10.27,51.37
$GC,272,-1.82,-585.0,1751,1516,3178,4094,33.8,-14.1,41,279,0.00,1.02,0.00,0.000,1030,0.000,0.026,1752,1952,3178,3178,4095,0,0,0,0,0,0,26.15,26.12,26.16,10.51,49.96
$GC,313,-1.82,-585.0,1751,1952,3179,4095,39.6,-14.1,47,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1951,3179,3179,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.49,49.40
$GC,354,-1.82,-585.0,1751,1951,3180,4095,45.2,-13.6,53,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3180,3180,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,48.58
$GC,394,-1.82,-585.0,1751,1951,3181,4095,50.6,-13.6,59,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3181,3181,4094,0,0,0,0,0,0,26.49,26.50,26.50,10.46,47.87
$GC,434,-1.82,-585.0,1750,1951,3182,4094,56.0,-13.4,65,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3182,3182,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.45,47.44
$STATE,463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,463,begin apogee
$GC,475,-0.45,0.0,1751,2141,3183,4094,60.8,-13.4,70,517,4.65,0.00,33.55,1.312,10244,0.052,0.000,2185,2141,2485,2485,4094,0,0,0,0,0,0,26.08,25.15,24.07,10.45,47.16
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,523,1.82,585.0,2185,2141,2484,4094,64.2,0.0,77,570,7.62,0.00,33.28,1.278,11270,0.030,0.000,2902,2141,1803,1803,4094,0,0,0,0,0,0,25.48,25.63,23.71,10.30,46.73
$GC,605,1.82,585.0,2901,2141,1801,4094,57.2,13.0,90,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2142,1802,1802,4094,0,0,0,0,0,0,25.46,25.48,25.47,10.14,45.78
$GC,645,1.82,585.0,2902,2141,1800,4094,51.7,13.5,96,652,0.00,1.17,0.00,0.000,516,0.000,0.042,2903,1705,1800,1800,4094,0,0,0,0,0,0,25.67,25.32,25.69,10.14,45.66
$GC,770,1.82,585.0,2902,1705,1796,4094,34.6,13.2,116,777,0.00,1.05,0.00,0.000,1030,0.000,0.030,2903,2129,1796,1796,4094,0,0,0,0,0,0,25.76,25.72,25.79,10.12,47.59
$GC,812,1.82,585.0,2902,2128,1794,4094,29.5,12.2,122,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1795,1795,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,47.08
$GC,852,1.82,585.0,2902,2129,1794,4094,24.6,12.1,128,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1795,1795,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.13,47.75
$GC,893,1.82,585.0,2902,2128,1793,4094,19.9,11.1,134,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1792,1792,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.14,48.11
$GC,933,1.85,610.8,2902,2128,1791,4094,15.7,10.2,140,941,0.00,1.12,2.78,0.256,8708,0.000,0.044,2902,1702,1771,1771,4094,0,0,0,0,0,0,26.28,25.53,24.46,10.18,49.33
$GC,1035,1.85,610.8,2902,1702,1767,4094,4.9,11.1,156,1042,0.00,1.05,0.00,0.000,1030,0.000,0.028,2903,2134,1768,1768,4094,0,0,0,0,0,0,26.07,26.03,26.09,10.20,52.28
$STATE,1061,end climb,FINISH_DEPTH_REACHED
$STATE,1061,begin subsurface finish
$FINISH1,1.5,1.024157,101
$GC,1073,0.15,100.5,2902,2134,1767,4095,1.5,11.9,160,1087,5.20,0.00,-5.30,0.000,20486,0.021,0.000,2388,2134,2372,2372,4094,0,0,0,0,0,0,26.14,24.44,26.17,10.21,52.59
$FINISH2,0.2
$STATE,1088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,075847
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.95
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.71,56.891
$10V_AH,10.24,53.436
$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,34.125,7.100,69.600,0.000,0.000,26.034,21.886,278.742,0.000,0.000,23.425,420.502,258.863,146.959,528.577,338.058,0.000,323.802,0.000,245.693,0.000,0.542,0.000
$DEVICE_MAMPS,90.270,1250.010,1311.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,10887,162
$CAP_FILE_SIZE,29359,0
$CFSIZE,1024409600,923025408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300817,091455,6023.438,-17336.102,5,0.9,22,7.1,0.3,269.9,9,4.9