version: 66.13
glider: 401
mission: 22
dive: 2030
start: 8 31 117 12 48 24
data:
$ID,401
$MISSION,22
$DIVE,2030
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,310817,122739,6014.9556,-17329.0293,5,0.8,16,7.1,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.4
$GPS2,310817,122739,6014.9556,-17329.0293,5,0.8,16,7.1,0.0,0.0,10,4.6
$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,143.6,18889,-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,-585.0,2384,1951,2375,4092,0.0,0.0,0,22,6.40,0.00,-2.03,0.000,20482,0.024,0.000,1762,1947,2591,2591,4095,0,0,0,0,0,0,26.13,28.83,26.19,10.34,53.50
$GC,27,-1.82,-585.0,1761,1952,2591,4095,0.0,0.0,1,38,0.00,1.23,-5.55,0.000,16644,0.000,1.241,1762,2378,3171,3171,4094,0,0,0,0,0,0,26.44,24.18,26.45,10.38,53.11
$GC,143,-1.82,-585.0,1761,2378,3173,4094,14.3,-17.9,17,153,0.00,1.10,0.00,0.000,1030,0.000,0.032,1762,1943,3174,3174,4095,0,0,0,0,0,0,26.13,26.08,26.16,10.52,52.87
$GC,194,-1.82,-585.0,1761,1943,3175,4095,22.8,-16.5,23,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1943,3175,3175,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.50,52.75
$GC,242,-1.82,-585.0,1761,1943,3176,4095,29.1,-12.5,29,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3176,3176,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.46,52.32
$GC,291,-1.82,-585.0,1761,1942,3178,4094,35.7,-13.7,35,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3178,3178,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.44,50.74
$GC,340,-1.82,-585.0,1761,1943,3179,4095,42.5,-13.5,41,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1943,3178,3178,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.43,49.96
$GC,390,-1.82,-585.0,1761,1943,3180,4095,49.1,-13.6,47,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3180,3180,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,49.48
$GC,439,-1.82,-585.0,1761,1943,3181,4094,55.7,-13.1,53,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3182,3182,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.41,49.05
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,480,-0.45,0.0,1761,2145,3183,4095,60.6,-13.7,57,523,4.57,0.00,33.62,1.319,10244,0.052,0.000,2187,2146,2484,2484,4095,0,0,0,0,0,0,26.15,25.19,24.09,10.41,49.05
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,529,1.82,585.0,2186,2145,2484,4095,64.2,0.0,62,574,7.70,0.00,33.47,1.287,11270,0.030,0.000,2905,2145,1802,1802,4095,0,0,0,0,0,0,25.51,25.69,23.68,10.26,47.83
$GC,615,1.82,585.0,2903,2145,1800,4095,57.2,12.9,72,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2145,1800,1800,4094,0,0,0,0,0,0,25.49,25.50,25.50,10.12,46.69
$GC,664,1.82,585.0,2904,2145,1798,4094,50.5,13.7,78,673,0.00,1.17,0.00,0.000,516,0.000,0.044,2905,1708,1798,1798,4094,0,0,0,0,0,0,25.72,25.34,25.74,10.11,46.88
$GC,791,1.82,585.0,2904,1708,1795,4094,33.5,13.0,96,800,0.00,1.02,0.00,0.000,1030,0.000,0.029,2905,2123,1795,1795,4094,0,0,0,0,0,0,25.77,25.74,25.81,10.09,47.75
$GC,841,1.82,585.0,2904,2122,1793,4094,27.3,12.9,102,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2123,1794,1794,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.09,48.58
$GC,890,1.82,585.0,2905,2123,1792,4094,21.1,12.3,108,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2123,1791,1791,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.10,48.62
$GC,939,1.84,604.1,2904,2122,1790,4094,15.7,10.3,114,949,0.00,0.00,2.45,0.176,8198,0.000,0.000,2905,2123,1778,1778,4095,0,0,0,0,0,0,26.27,24.97,24.34,10.14,50.70
$GC,990,2.03,727.6,2904,2122,1777,4095,10.9,9.0,120,1008,0.62,1.08,8.10,0.606,10756,0.028,0.045,2976,1715,1634,1634,4094,0,0,0,0,0,0,26.07,25.27,24.68,10.16,51.26
$STATE,1061,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,1.8,1.024183,99
$GC,1075,0.15,98.7,2976,2145,1631,4094,1.8,10.9,130,1094,6.05,0.00,-6.65,0.000,20486,0.021,0.000,2390,2148,2373,2373,4094,0,0,0,0,0,0,26.00,25.34,26.06,10.15,52.55
$FINISH2,0.2
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,110905
$TT8_MAMPS,0.025466,0.241927
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.68,59.067
$10V_AH,10.10,55.040
$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,25.350,7.725,77.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.179,0.000,119.473,549.616,108.655,0.000,342.758,0.000,322.047,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1240.830,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.447,358.639,283.806,420.872,547.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10939,132
$CAP_FILE_SIZE,24619,0
$CFSIZE,1024409600,919732224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,122739,6014.956,-17329.029,5,0.8,16,7.1,0.0,0.0,10,4.6