version: 66.13
glider: 401
mission: 22
dive: 1994
start: 8 30 117 22 8 21
data:
$ID,401
$MISSION,22
$DIVE,1994
$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,31
$R_STBD_OVSHOOT,56
$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
$GPS1,300817,214710,6019.8813,-17335.0703,8,0.8,24,7.1,0.6,330.3,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-1.6
$GPS2,300817,214710,6019.8813,-17335.0703,8,0.8,24,7.1,0.6,330.3,10,5.0
$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,142.8,29577,-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,-585.0,2392,1986,2370,4092,0.0,0.0,0,22,6.45,0.00,-1.95,0.000,20482,0.020,0.000,1755,1987,2674,2674,4094,0,0,0,0,0,0,26.10,28.83,26.14,10.34,52.99
$GC,27,-1.82,-585.0,1755,1987,2674,4094,2.0,0.0,1,37,0.00,1.00,-3.00,0.000,16644,0.000,1.234,1755,2343,3173,3173,4095,0,0,0,0,0,0,26.34,24.23,26.33,10.40,52.87
$GC,95,-1.82,-585.0,1755,2344,3175,4095,10.8,-17.5,10,105,0.00,0.98,0.00,0.000,1030,0.000,0.030,1755,1962,3174,3174,4094,0,0,0,0,0,0,26.01,26.00,26.06,10.51,52.99
$GC,144,-1.82,-585.0,1755,1962,3176,4094,19.2,-17.4,16,153,0.00,1.15,0.00,0.000,516,0.000,0.050,1755,1513,3176,3176,4095,0,0,0,0,0,0,26.35,25.90,26.36,10.50,52.63
$GC,218,-1.82,-585.0,1754,1513,3178,4095,29.7,-13.4,26,227,0.00,0.93,0.00,0.000,1030,0.000,0.027,1755,1912,3178,3178,4094,0,0,0,0,0,0,26.14,26.12,26.16,10.45,51.61
$GC,267,-1.82,-585.0,1755,1912,3179,4094,36.1,-13.5,32,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1912,3179,3179,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.43,51.45
$GC,317,-1.82,-585.0,1754,1913,3180,4094,42.9,-13.6,38,326,0.00,1.17,0.00,0.000,260,0.000,0.044,1755,2363,3181,3181,4094,0,0,0,0,0,0,26.47,26.03,26.48,10.42,49.88
$GC,404,-1.82,-585.0,1755,2362,3183,4094,55.8,-14.2,50,413,0.00,1.05,0.00,0.000,1030,0.000,0.028,1755,1947,3183,3183,4095,0,0,0,0,0,0,26.24,26.17,26.24,10.41,48.93
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,440,-0.45,0.0,1755,2132,3183,4095,60.2,-15.6,53,484,4.65,0.00,33.78,1.320,10244,0.054,0.000,2186,2133,2484,2484,4095,0,0,0,0,0,0,26.09,25.14,24.06,10.40,48.93
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,490,1.82,585.0,2186,2132,2484,4095,64.5,0.0,58,535,7.68,0.00,33.50,1.287,11270,0.028,0.000,2904,2133,1802,1802,4095,0,0,0,0,0,0,25.47,25.63,23.68,10.26,47.87
$GC,576,1.82,585.0,2903,2132,1800,4095,57.9,13.6,68,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1800,1800,4094,0,0,0,0,0,0,25.46,25.48,25.47,10.11,46.69
$GC,625,1.82,585.0,2903,2132,1798,4094,50.8,14.8,74,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1798,1798,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.10,47.08
$GC,674,1.82,585.0,2903,2132,1797,4094,43.6,14.4,80,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1796,1796,4095,0,0,0,0,0,0,25.87,25.89,25.88,10.10,47.12
$GC,724,1.82,585.0,2904,2132,1795,4095,36.5,14.1,86,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1795,1795,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.09,47.59
$GC,773,1.82,585.0,2903,2132,1794,4094,29.8,13.2,92,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,47.95
$GC,822,1.82,585.0,2903,2132,1792,4094,22.8,14.5,98,830,0.00,1.12,0.00,0.000,516,0.000,0.045,2904,1707,1792,1792,4095,0,0,0,0,0,0,26.16,25.75,26.17,10.11,48.03
$GC,941,2.08,760.8,2903,1707,1788,4095,8.9,8.4,115,960,0.80,1.05,10.18,0.618,11270,0.024,0.028,2988,2137,1595,1595,4094,0,0,0,0,0,0,26.01,25.97,24.74,10.17,51.92
$STATE,995,end climb,FINISH_DEPTH_REACHED
$STATE,996,begin subsurface finish
$FINISH1,1.9,1.024128,103
$GC,1008,0.15,102.6,2988,2136,1593,4094,1.9,12.2,122,1027,6.18,0.00,-6.90,0.000,20486,0.022,0.000,2392,2145,2369,2369,4094,0,0,0,0,0,0,25.95,23.98,26.01,10.14,52.71
$FINISH2,0.1
$STATE,1028,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1028,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,202808
$TT8_MAMPS,0.026215,0.237433
$HUMID,52.44
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.68,57.903
$10V_AH,10.12,54.190
$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,25.750,9.550,77.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,357.012,0.426,114.368,517.179,102.047,0.000,330.020,0.000,304.293,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1233.945,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.956,336.804,266.738,395.108,514.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,10893,124
$CAP_FILE_SIZE,23754,0
$CFSIZE,1024409600,921501696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,214710,6019.881,-17335.070,8,0.8,24,7.1,0.6,330.3,10,5.0