version: 66.13
glider: 401
mission: 22
dive: 1981
start: 8 30 117 16 52 29
data:
$ID,401
$MISSION,22
$DIVE,1981
$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
$GPS1,300817,163624,6020.5142,-17333.7617,8,0.8,16,7.1,0.4,210.2,11,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-39.4
$GPS2,300817,165150,6020.4590,-17333.9395,5,0.8,20,7.1,0.3,303.1,10,4.8
$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,145.6,30014,-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,-585.0,231,1947,1786,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,2049,0.081,0.000,713,1947,1786,1786,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.26,50.86
$GC,24,-1.82,-585.0,713,1947,1786,4094,0.7,0.0,1,54,11.07,1.17,-12.95,0.000,18948,0.038,1.235,1753,1516,3170,3170,4095,0,0,0,0,0,0,25.88,24.00,25.96,10.27,51.29
$GC,260,-1.82,-585.0,1752,1516,3175,4095,29.8,-13.7,39,266,0.00,1.02,0.00,0.000,1030,0.000,0.026,1753,1953,3175,3175,4094,0,0,0,0,0,0,26.13,26.11,26.16,10.49,49.92
$GC,301,-1.82,-585.0,1752,1953,3176,4094,35.4,-13.5,45,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1953,3176,3176,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.48,49.13
$GC,341,-1.82,-585.0,1752,1954,3177,4094,41.0,-13.6,51,348,0.00,1.10,0.00,0.000,260,0.000,0.045,1753,2373,3178,3178,4094,0,0,0,0,0,0,26.46,26.01,26.47,10.47,48.74
$GC,430,-1.82,-585.0,1752,2373,3180,4094,53.1,-13.9,65,437,0.00,1.05,0.00,0.000,1030,0.000,0.027,1753,1954,3180,3180,4094,0,0,0,0,0,0,26.21,26.17,26.23,10.45,47.63
$GC,472,-1.82,-585.0,1752,1954,3181,4094,59.3,-14.7,71,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1954,3181,3181,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.44,47.75
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,494,-0.45,0.0,1752,2139,3181,4095,61.5,-14.5,73,536,4.65,0.00,33.65,1.328,10244,0.051,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,24.04,10.44,47.95
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,542,1.82,585.0,2186,2139,2484,4094,64.7,0.0,80,590,7.60,1.12,33.42,1.291,10500,0.028,0.050,2906,2556,1802,1802,4094,0,0,0,0,0,0,25.37,25.32,23.66,10.29,47.36
$GC,600,1.82,585.0,2906,2556,1801,4094,60.7,11.6,89,607,0.00,1.10,0.00,0.000,1030,0.000,0.025,2907,2129,1801,1801,4094,0,0,0,0,0,0,25.06,25.03,25.08,10.14,46.61
$GC,641,1.82,585.0,2906,2128,1800,4094,55.2,13.3,95,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2129,1800,1800,4094,0,0,0,0,0,0,25.54,25.55,25.55,10.14,46.37
$GC,682,1.82,585.0,2906,2128,1799,4094,49.9,12.7,101,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2129,1799,1799,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.14,46.25
$GC,722,1.82,585.0,2906,2128,1797,4094,44.6,13.5,107,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2129,1797,1797,4095,0,0,0,0,0,0,25.86,25.87,25.86,10.13,46.81
$GC,762,1.82,585.0,2906,2128,1796,4095,39.2,13.0,113,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2128,1796,1796,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.12,46.49
$GC,803,1.82,585.0,2906,2128,1795,4094,33.8,13.7,119,809,0.00,1.05,0.00,0.000,516,0.000,0.045,2906,1721,1795,1795,4094,0,0,0,0,0,0,26.05,25.65,26.06,10.11,46.73
$GC,892,1.82,585.0,2906,1721,1792,4094,21.9,13.1,133,898,0.00,0.98,0.00,0.000,1030,0.000,0.030,2907,2120,1791,1791,4094,0,0,0,0,0,0,25.93,25.87,25.94,10.11,47.36
$GC,933,1.82,585.0,2906,2120,1791,4094,17.0,11.4,139,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2120,1790,1790,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.15,48.42
$GC,976,1.82,585.0,2906,2120,1789,4094,12.3,11.0,145,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2120,1789,1789,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.17,50.00
$GC,1017,1.93,663.6,2906,2120,1788,4094,8.2,9.6,151,1030,0.30,0.00,5.28,0.496,10246,0.036,0.000,2943,2120,1709,1709,4094,0,0,0,0,0,0,26.10,25.60,24.68,10.18,50.94
$GC,1065,1.93,663.6,2942,2120,1708,4094,2.5,12.3,158,1071,0.00,1.08,0.00,0.000,516,0.000,0.048,2942,1716,1708,1708,4095,0,0,0,0,0,0,26.32,25.88,26.32,10.18,51.77
$STATE,1076,end climb,FINISH_DEPTH_REACHED
$STATE,1076,begin subsurface finish
$FINISH1,0.7,1.024153,101
$GC,1090,0.15,100.9,2943,2155,1707,4094,0.7,11.4,160,1109,5.68,1.23,-5.88,0.000,20996,0.021,1.245,2386,1721,2371,2371,4094,0,0,0,0,0,0,26.06,24.25,26.11,10.18,52.48
$FINISH2,0.1
$STATE,1110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1111,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,164728
$TT8_MAMPS,0.026215,0.159537
$HUMID,52.28
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.66,57.483
$10V_AH,10.23,53.877
$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,34.875,12.425,72.350,0.000,0.000,79.958,81.261,363.756,0.000,0.000,21.882,423.004,330.230,165.715,745.697,379.281,0.000,351.396,0.000,247.191,0.000,0.543,0.000
$DEVICE_MAMPS,81.090,1245.420,1328.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10868,163
$CAP_FILE_SIZE,35341,0
$CFSIZE,1024409600,922124288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,938.79,0x2138dc,1,24
$GPS,300817,165150,6020.459,-17333.939,5,0.8,20,7.1,0.3,303.1,10,4.8