version: 66.13
glider: 401
mission: 22
dive: 1980
start: 8 30 117 16 15 26
data:
$ID,401
$MISSION,22
$DIVE,1980
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,300817,153309,6021.2075,-17333.8086,5,0.7,16,7.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-1.7
$GPS2,300817,153309,6021.2075,-17333.8086,5,0.7,16,7.1,0.0,0.0,11,5.0
$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,146.9,31199,-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,-585.0,2386,1947,2374,4092,0.0,0.0,0,21,6.40,0.00,-2.03,0.000,20482,0.021,0.000,1757,1947,2666,2666,4095,0,0,0,0,0,0,26.18,28.83,26.23,10.33,53.38
$GC,27,-1.82,-585.0,1756,1947,2666,4095,1.5,0.0,1,35,0.00,0.00,-3.20,0.000,16390,0.000,0.000,1757,1947,3174,3174,4094,0,0,0,0,0,0,26.44,25.51,26.44,10.38,53.89
$GC,74,-1.82,-585.0,1756,1947,3175,4094,7.0,-15.2,7,83,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1947,3175,3175,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.50,53.74
$GC,122,-1.82,-585.0,1756,1947,3177,4094,15.3,-17.4,13,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1947,3177,3177,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.51,53.97
$GC,169,-1.82,-585.0,1756,1947,3178,4094,23.3,-16.3,19,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1947,3178,3178,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.48,53.07
$GC,216,-1.82,-585.0,1756,1947,3179,4094,29.7,-13.2,25,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1947,3179,3179,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.45,52.36
$GC,264,-1.82,-585.0,1756,1947,3180,4095,36.1,-13.2,31,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1947,3180,3180,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.43,51.65
$GC,312,-1.82,-585.0,1756,1947,3181,4094,42.6,-13.9,37,321,0.00,1.15,0.00,0.000,260,0.000,0.045,1757,2374,3182,3182,4094,0,0,0,0,0,0,26.53,26.08,26.53,10.42,50.59
$GC,386,-1.82,-585.0,1756,2375,3183,4094,52.8,-13.9,47,396,0.00,1.05,0.00,0.000,1030,0.000,0.029,1757,1957,3183,3183,4095,0,0,0,0,0,0,26.25,26.20,26.27,10.41,49.56
$GC,436,-1.82,-585.0,1756,1957,3185,4095,59.8,-14.4,53,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1957,3185,3185,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.40,49.44
$STATE,453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,453,begin apogee
$GC,464,-0.45,0.0,1756,2142,3185,4094,63.0,-14.1,55,508,4.57,0.00,33.83,1.336,10244,0.049,0.000,2188,2143,2484,2484,4094,0,0,0,0,0,0,26.23,25.17,24.06,10.40,49.48
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,515,1.82,585.0,2188,2143,2484,4094,65.7,0.0,60,560,7.65,0.00,33.53,1.300,11270,0.029,0.000,2905,2144,1802,1802,4094,0,0,0,0,0,0,25.50,25.67,23.68,10.25,48.42
$GC,600,1.82,585.0,2904,2144,1801,4094,59.3,12.1,70,610,0.00,1.17,0.00,0.000,516,0.000,0.044,2905,1706,1801,1801,4094,0,0,0,0,0,0,25.47,25.12,25.48,10.10,47.71
$GC,701,1.82,585.0,2904,1706,1798,4094,45.6,13.3,84,711,0.00,1.00,0.00,0.000,1030,0.000,0.029,2905,2110,1798,1798,4094,0,0,0,0,0,0,25.61,25.58,25.65,10.09,48.30
$GC,750,1.82,585.0,2904,2110,1796,4094,38.9,13.7,90,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2110,1796,1796,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.09,48.42
$GC,797,1.82,585.0,2904,2110,1795,4095,32.5,13.4,96,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2110,1795,1795,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.08,48.26
$GC,845,1.82,585.0,2904,2109,1794,4094,26.2,12.9,102,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2110,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.08,48.11
$GC,892,1.82,585.0,2904,2110,1792,4094,20.2,12.6,108,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2110,1791,1791,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.10,48.58
$GC,940,1.82,585.0,2904,2109,1790,4094,15.0,10.7,114,949,0.00,1.08,0.00,0.000,516,0.000,0.047,2905,1704,1790,1790,4094,0,0,0,0,0,0,26.28,25.85,26.29,10.14,50.23
$GC,1053,1.82,585.0,2904,1704,1787,4094,3.0,10.7,130,1063,0.00,1.02,0.00,0.000,1030,0.000,0.031,2904,2125,1787,1787,4095,0,0,0,0,0,0,26.08,26.03,26.10,10.17,52.40
$STATE,1070,end climb,SURFACE_DEPTH_REACHED
$STATE,1070,begin surface coast
$FINISH,0.1,1.024187
$STATE,1092,end surface coast,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$SM_CCo,1198,0.00,0.000,0,0,1787,600.16
$SM_GC,0.75,27.95,0.47,0.00,0.019,0.050,0.000,231,1948,1787,-6.59,1.05,600.16,0,0,0,0,0,0,25.99,26.05,26.07
$IRIDIUM_FIX,5952.82,-17420.78,300817,141437
$TT8_MAMPS,0.025466,0.257656
$HUMID,52.91
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.68,57.428
$10V_AH,10.10,53.856
$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,46.575,7.900,67.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.467,59.686,141.648,564.664,123.002,0.000,369.711,0.000,329.561,0.000,0.543,0.000
$DEVICE_MAMPS,48.960,50.490,1336.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.723,366.746,290.369,430.615,563.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,14374,135
$CAP_FILE_SIZE,26586,0
$CFSIZE,1024409600,922189824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,163624,6020.514,-17333.762,8,0.8,16,7.1,0.4,210.2,11,4.9