version: 66.13
glider: 401
mission: 22
dive: 1982
start: 8 30 117 17 13 1
data:
$ID,401
$MISSION,22
$DIVE,1982
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,300817,165150,6020.4590,-17333.9395,5,0.8,20,7.1,0.3,303.1,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.1
$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,6,begin dive
$GC,11,-1.82,-585.0,2386,1963,2371,4092,0.0,0.0,0,22,6.43,0.00,-2.00,0.000,20482,0.023,0.000,1762,1970,2586,2586,4095,0,0,0,0,0,0,26.07,28.83,26.12,10.34,53.15
$GC,28,-1.82,-585.0,1761,1970,2586,4095,0.1,0.0,1,37,0.00,1.12,-5.57,0.000,16644,0.000,1.235,1762,2361,3171,3171,4095,0,0,0,0,0,0,26.36,24.20,26.36,10.38,52.67
$GC,296,-1.82,-585.0,1761,2362,3177,4095,31.0,-13.0,40,305,0.00,1.02,0.00,0.000,1030,0.000,0.030,1761,1952,3177,3177,4095,0,0,0,0,0,0,26.17,26.15,26.22,10.45,51.26
$GC,344,-1.82,-585.0,1761,1951,3179,4095,37.4,-13.5,46,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1952,3179,3179,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.44,50.70
$GC,392,-1.82,-585.0,1761,1952,3180,4095,44.0,-13.6,52,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1952,3179,3179,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,50.47
$GC,440,-1.82,-585.0,1761,1951,3181,4095,50.5,-14.0,58,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3181,3181,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,49.76
$GC,487,-1.82,-585.0,1761,1952,3183,4094,57.4,-14.7,64,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1952,3183,3183,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.42,48.66
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,503,begin apogee
$GC,514,-0.45,0.0,1761,2127,3183,4094,60.4,-14.6,66,559,4.55,0.00,33.60,1.322,10244,0.053,0.000,2185,2127,2485,2485,4095,0,0,0,0,0,0,26.15,24.88,24.12,10.41,48.62
$STATE,560,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,565,1.82,585.0,2184,2127,2486,4095,64.4,0.0,71,609,7.68,0.00,33.55,1.286,11270,0.029,0.000,2902,2127,1802,1802,4094,0,0,0,0,0,0,25.52,25.69,23.70,10.27,47.71
$GC,650,1.82,585.0,2902,2127,1801,4094,57.8,12.3,81,659,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1715,1801,1801,4094,0,0,0,0,0,0,25.48,25.15,25.49,10.12,46.92
$GC,744,1.82,585.0,2902,1714,1798,4094,45.3,13.1,94,753,0.00,1.00,0.00,0.000,1030,0.000,0.029,2903,2118,1798,1798,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.10,47.40
$GC,794,1.82,585.0,2902,2117,1796,4094,38.9,13.3,100,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1796,1796,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.10,47.48
$GC,844,1.82,585.0,2902,2117,1796,4094,32.3,13.5,106,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1795,1795,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,47.75
$GC,893,1.82,585.0,2901,2117,1794,4094,25.7,13.3,112,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.10,47.87
$GC,942,1.82,585.0,2902,2117,1791,4094,19.1,13.2,118,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1791,1791,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.10,48.50
$GC,991,1.82,585.2,2902,2117,1790,4094,13.5,10.5,124,1000,0.00,1.08,0.00,0.000,516,0.000,0.047,2903,1713,1790,1790,4094,0,0,0,0,0,0,26.29,25.86,26.30,10.15,49.56
$STATE,1106,end climb,FINISH_DEPTH_REACHED
$STATE,1106,begin subsurface finish
$FINISH1,1.4,1.024152,101
$GC,1120,0.15,100.9,2902,2145,1787,4094,1.4,9.2,141,1139,5.30,0.00,-5.25,0.000,20486,0.027,0.000,2389,2154,2369,2369,4094,0,0,0,0,0,0,26.12,25.44,26.17,10.18,52.28
$FINISH2,0.1
$STATE,1139,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1140,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,164728
$TT8_MAMPS,0.026215,0.244923
$HUMID,52.55
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.70,57.508
$10V_AH,10.12,53.909
$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,23.950,7.400,67.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,395.195,0.000,107.690,596.658,102.512,0.000,326.234,0.000,348.326,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1234.710,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.527,388.465,307.547,455.816,595.314,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,14268,143
$CAP_FILE_SIZE,23079,0
$CFSIZE,1024409600,922091520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,165150,6020.459,-17333.939,5,0.8,20,7.1,0.3,303.1,10,4.8