version: 66.13
glider: 401
mission: 22
dive: 2007
start: 8 31 117 3 20 45
data:
$ID,401
$MISSION,22
$DIVE,2007
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,310817,023916,6019.4722,-17331.8438,5,0.8,23,7.1,0.3,6.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.5
$GPS2,310817,023916,6019.4722,-17331.8438,5,0.8,23,7.1,0.3,6.5,11,5.0
$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,147.4,27516,-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,-585.0,2390,1943,2370,4092,0.0,0.0,0,24,6.43,0.00,-4.75,0.000,20482,0.020,0.000,1758,1944,2882,2882,4095,0,0,0,0,0,0,26.10,28.83,26.13,10.34,52.44
$GC,30,-1.82,-585.0,1758,1943,2882,4095,0.2,-3.2,2,38,0.00,1.17,-2.75,0.000,16900,0.000,1.250,1758,1525,3171,3171,4094,0,0,0,0,0,0,26.36,24.20,26.35,10.45,52.91
$GC,225,-1.82,-585.0,1757,1524,3176,4094,27.2,-17.3,33,231,0.00,1.02,0.00,0.000,1030,0.000,0.028,1758,1956,3176,3176,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.52,53.03
$GC,266,-1.82,-585.0,1757,1955,3177,4095,32.3,-11.8,39,273,0.00,1.10,0.00,0.000,260,0.000,0.046,1758,2376,3177,3177,4095,0,0,0,0,0,0,26.48,26.04,26.49,10.49,52.83
$GC,337,-1.82,-585.0,1757,2375,3178,4095,40.0,-10.6,50,344,0.00,1.05,0.00,0.000,1030,0.000,0.029,1758,1958,3178,3178,4094,0,0,0,0,0,0,26.20,26.17,26.24,10.45,51.02
$GC,378,-1.82,-585.0,1757,1958,3179,4094,44.5,-11.1,56,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1958,3180,3180,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.44,50.11
$GC,419,-1.82,-585.0,1757,1958,3180,4095,49.5,-12.5,62,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1958,3181,3181,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,50.39
$GC,459,-1.82,-585.0,1757,1958,3181,4095,54.6,-12.6,68,466,0.00,1.10,0.00,0.000,516,0.000,0.050,1758,1521,3181,3181,4094,0,0,0,0,0,0,26.57,26.10,26.58,10.43,49.13
$STATE,495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,495,begin apogee
$GC,508,-0.45,0.0,1758,2134,3183,4095,60.1,-13.4,74,550,4.60,0.00,33.58,1.304,10244,0.052,0.000,2185,2134,2484,2484,4095,0,0,0,0,0,0,26.15,25.19,24.11,10.42,49.44
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,556,1.82,585.0,2185,2134,2484,4095,63.6,0.0,81,604,7.68,0.00,33.33,1.272,11270,0.030,0.000,2904,2134,1801,1801,4094,0,0,0,0,0,0,25.51,25.67,23.72,10.28,48.11
$GC,638,1.82,585.0,2903,2134,1800,4094,56.7,12.6,94,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1800,1800,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.12,46.81
$GC,679,1.82,585.0,2903,2134,1799,4094,51.3,13.6,100,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2134,1798,1798,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.12,47.59
$GC,720,1.82,585.0,2903,2134,1798,4094,46.0,12.7,106,726,0.00,1.12,0.00,0.000,516,0.000,0.044,2904,1713,1797,1797,4094,0,0,0,0,0,0,25.83,25.45,25.84,10.12,48.03
$GC,821,1.82,585.0,2903,1713,1795,4094,34.0,11.6,122,827,0.00,1.05,0.00,0.000,1030,0.000,0.030,2904,2136,1794,1794,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.11,47.95
$GC,862,1.82,585.0,2904,2136,1794,4094,29.2,12.2,128,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1793,1793,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.10,48.18
$GC,903,1.82,585.0,2903,2136,1793,4094,24.3,12.0,134,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1792,1792,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,48.66
$GC,943,1.91,648.5,2903,2136,1791,4094,20.3,9.7,140,951,0.22,0.00,4.70,0.531,10246,0.043,0.000,2936,2136,1727,1727,4094,0,0,0,0,0,0,26.03,25.48,24.53,10.15,49.96
$GC,986,1.91,648.5,2936,2136,1726,4094,15.7,11.0,146,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2136,1726,1726,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.15,51.89
$GC,1026,1.91,648.5,2936,2136,1725,4094,10.9,12.1,152,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2136,1724,1724,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.17,51.96
$GC,1066,1.91,648.5,2935,2136,1723,4094,5.9,12.2,158,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2136,1723,1723,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,52.75
$STATE,1096,end climb,SURFACE_DEPTH_REACHED
$STATE,1096,begin surface coast
$FINISH,0.5,1.024143
$STATE,1109,end surface coast,CONTROL_FINISHED_OK
$STATE,1109,begin surface
$SM_CCo,1216,0.00,0.000,0,0,1721,655.97
$SM_GC,0.75,28.17,0.50,0.00,0.020,0.046,0.000,237,1942,1721,-6.55,1.09,655.97,0,0,0,0,0,0,26.13,26.03,26.16
$IRIDIUM_FIX,5952.82,-17420.78,310817,011953
$TT8_MAMPS,0.025466,0.106358
$HUMID,53.26
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.72,58.315
$10V_AH,10.35,54.484
$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,47.100,10.175,71.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.014,324.833,166.533,239.520,122.705,0.000,341.682,0.000,248.470,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1250.010,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,10844,165
$CAP_FILE_SIZE,28661,0
$CFSIZE,1024409600,920862720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,034209,6018.894,-17330.689,8,0.8,24,7.1,0.0,153.9,11,5.0