version: 66.13
glider: 401
mission: 22
dive: 1972
start: 8 30 117 13 0 11
data:
$ID,401
$MISSION,22
$DIVE,1972
$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,50
$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
$GPS1,300817,124913,6022.4141,-17334.7695,8,0.9,41,7.1,0.3,156.1,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-36.5
$GPS2,300817,125932,6022.4033,-17334.7246,5,0.8,38,7.1,0.2,86.6,10,4.5
$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,147.3,33561,-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,-585.0,237,1977,1786,4092,0.0,0.0,0,21,8.50,0.00,0.00,0.000,2049,0.086,0.000,964,1977,1786,1786,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.26,52.16
$GC,26,-1.82,-585.0,964,1977,1787,4094,0.7,0.0,1,54,8.48,1.23,-12.95,0.000,18948,0.043,1.249,1754,1546,3170,3170,4094,0,0,0,0,0,0,25.94,24.02,26.01,10.26,52.20
$GC,314,-1.82,-585.0,1753,1546,3175,4094,27.2,-9.8,42,324,0.00,0.90,0.00,0.000,1030,0.000,0.024,1754,1947,3175,3175,4095,0,0,0,0,0,0,26.22,26.18,26.22,10.51,51.10
$GC,365,-1.82,-585.0,1753,1947,3176,4095,32.0,-9.7,48,374,0.00,1.05,0.00,0.000,516,0.000,0.048,1754,1541,3176,3176,4095,0,0,0,0,0,0,26.48,26.02,26.49,10.49,50.23
$GC,615,-1.82,-585.0,1753,1541,3181,4095,58.0,-10.7,84,623,0.00,0.88,0.00,0.000,1030,0.000,0.026,1754,1931,3181,3181,4094,0,0,0,0,0,0,26.33,26.34,26.36,10.43,47.71
$STATE,631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,631,begin apogee
$GC,643,-0.45,0.0,1753,2128,3181,4095,60.4,-10.4,86,687,4.62,0.00,33.60,1.321,10244,0.052,0.000,2185,2127,2484,2484,4094,0,0,0,0,0,0,26.15,25.20,24.10,10.43,47.48
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,693,1.82,585.0,2185,2127,2484,4094,63.9,0.0,91,738,7.65,0.00,33.50,1.290,11270,0.029,0.000,2902,2127,1802,1802,4094,0,0,0,0,0,0,25.53,25.70,23.70,10.29,46.92
$GC,779,1.82,585.0,2902,2127,1801,4094,58.3,10.6,101,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1801,1801,4094,0,0,0,0,0,0,25.50,25.51,25.51,10.13,46.29
$GC,828,1.87,619.0,2902,2127,1800,4094,53.3,10.1,107,839,0.10,1.12,3.67,0.588,10500,0.073,0.045,2922,2559,1762,1762,4094,0,0,0,0,0,0,25.54,24.69,23.88,10.13,46.10
$GC,898,1.87,619.0,2922,2558,1760,4094,45.5,11.1,116,907,0.00,1.00,0.00,0.000,1030,0.000,0.025,2923,2151,1759,1759,4094,0,0,0,0,0,0,25.67,25.67,25.73,10.11,46.85
$GC,946,1.88,624.9,2922,2151,1759,4094,40.4,10.5,122,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2152,1759,1759,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.11,47.36
$GC,994,1.95,672.1,2922,2151,1757,4094,35.5,9.9,128,1005,0.15,1.12,4.47,0.607,10500,0.054,0.049,2945,2559,1702,1702,4094,0,0,0,0,0,0,25.91,25.47,24.33,10.11,47.75
$GC,1051,1.95,672.1,2944,2559,1699,4094,29.6,10.6,135,1060,0.00,1.00,0.00,0.000,1030,0.000,0.025,2945,2152,1699,1699,4094,0,0,0,0,0,0,25.89,25.87,25.92,10.09,47.48
$GC,1100,2.05,741.4,2945,2152,1698,4094,24.8,9.7,141,1110,0.28,0.00,5.43,0.613,10246,0.037,0.000,2981,2150,1619,1619,4094,0,0,0,0,0,0,26.00,25.48,24.51,10.10,48.11
$GC,1151,2.19,836.3,2981,2150,1617,4094,19.9,9.4,147,1161,0.38,0.00,6.68,0.636,10246,0.038,0.000,3027,2150,1509,1509,4094,0,0,0,0,0,0,25.95,25.48,24.56,10.12,49.33
$GC,1202,2.23,858.3,3026,2150,1507,4094,14.8,10.3,153,1211,0.00,0.00,3.00,0.298,8198,0.000,0.000,3027,2150,1482,1482,4094,0,0,0,0,0,0,26.19,25.08,24.49,10.12,50.74
$GC,1252,2.28,893.7,3026,2150,1481,4094,10.0,10.1,159,1262,0.17,0.00,3.55,0.357,10246,0.052,0.000,3050,2150,1443,1443,4094,0,0,0,0,0,0,26.01,25.14,24.58,10.13,52.00
$GC,1303,2.28,893.7,3049,2149,1442,4094,4.4,11.4,165,1311,0.00,1.10,0.00,0.000,260,0.000,0.051,3050,2555,1442,1442,4094,0,0,0,0,0,0,26.27,25.80,26.28,10.13,52.44
$STATE,1319,end climb,FINISH_DEPTH_REACHED
$STATE,1319,begin subsurface finish
$FINISH1,1.7,1.024168,100
$GC,1333,0.15,99.8,3050,2125,1440,4094,1.7,11.4,167,1353,6.78,1.27,-8.27,0.000,20740,0.022,1.243,2386,2560,2373,2373,4094,0,0,0,0,0,0,26.03,24.13,26.08,10.13,53.03
$FINISH2,0.1
$STATE,1354,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1354,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,113813
$TT8_MAMPS,0.026215,0.253162
$HUMID,52.71
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.70,57.185
$10V_AH,10.08,53.669
$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,37.100,12.200,93.900,0.000,0.000,24.002,35.457,278.566,0.000,0.000,39.876,478.943,0.407,125.203,1031.121,346.485,0.000,382.557,0.000,411.168,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1249.245,1321.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.317,459.128,363.414,539.177,703.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,17935,169
$CAP_FILE_SIZE,33922,0
$CFSIZE,1024409600,922550272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300817,125932,6022.403,-17334.725,5,0.8,38,7.1,0.2,86.6,10,4.5