version: 66.13
glider: 401
mission: 22
dive: 1983
start: 8 30 117 17 34 3
data:
$ID,401
$MISSION,22
$DIVE,1983
$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,28
$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
$GPS1,300817,165150,6020.4590,-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,0.12
$_SM_ANGLEo,-3.4
$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,10,-1.82,-585.0,2388,1951,2369,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,4097,0.018,0.000,1839,1951,2369,2369,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.33,52.91
$GC,24,-1.82,-585.0,1838,1951,2369,4094,0.3,0.0,1,37,0.60,1.20,-7.55,0.000,20996,0.037,1.252,1776,1525,3171,3171,4095,0,0,0,0,0,0,26.08,24.22,26.11,10.33,52.87
$GC,242,-1.82,-585.0,1775,1525,3176,4095,26.8,-12.4,36,249,0.00,1.00,0.00,0.000,1030,0.000,0.027,1776,1953,3177,3177,4095,0,0,0,0,0,0,26.21,26.18,26.23,10.45,52.95
$GC,285,-1.82,-585.0,1775,1952,3177,4095,31.9,-12.3,42,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1952,3177,3177,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.43,51.89
$GC,326,-1.82,-585.0,1776,1952,3178,4094,37.3,-12.9,48,332,0.00,1.10,0.00,0.000,260,0.000,0.047,1776,2371,3179,3179,4095,0,0,0,0,0,0,26.52,26.08,26.53,10.43,51.81
$GC,421,-1.82,-585.0,1775,2371,3181,4095,49.8,-13.5,63,428,0.00,1.02,0.00,0.000,1030,0.000,0.030,1776,1963,3181,3181,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.41,50.55
$GC,462,-1.82,-585.0,1775,1963,3182,4095,55.5,-14.2,69,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1963,3182,3182,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.40,49.68
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,503,-0.45,0.0,1776,2134,3183,4095,60.1,-13.3,74,545,4.40,0.00,33.58,1.321,10244,0.050,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.16,25.19,24.10,10.40,49.96
$STATE,546,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,551,1.82,585.0,2186,2134,2484,4094,63.1,0.0,81,599,7.68,0.00,33.25,1.279,11270,0.030,0.000,2903,2134,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.70,10.25,49.13
$GC,633,1.82,585.0,2902,2133,1801,4094,56.4,12.5,94,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.11,47.59
$GC,674,1.82,585.0,2902,2133,1800,4094,51.1,12.9,100,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.67,10.10,47.99
$GC,714,1.82,585.0,2902,2133,1799,4094,45.8,13.6,106,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1799,1799,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.09,48.66
$GC,755,1.82,585.0,2902,2133,1797,4094,40.4,13.5,112,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1797,1797,4094,0,0,0,0,0,0,25.93,25.95,25.94,10.09,48.54
$GC,795,1.82,585.0,2902,2133,1796,4094,35.0,13.4,118,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1796,1796,4094,0,0,0,0,0,0,26.02,26.04,26.04,10.09,48.34
$GC,835,1.82,585.0,2903,2133,1795,4094,29.7,13.1,124,842,0.00,1.12,0.00,0.000,516,0.000,0.045,2903,1711,1795,1795,4095,0,0,0,0,0,0,26.10,25.68,26.11,10.09,48.66
$GC,936,1.82,585.0,2902,1710,1791,4095,16.9,12.5,140,943,0.00,1.02,0.00,0.000,1030,0.000,0.029,2903,2129,1792,1792,4094,0,0,0,0,0,0,25.94,25.91,25.98,10.10,49.76
$GC,978,1.92,653.5,2903,2128,1790,4094,12.7,9.7,146,986,0.28,0.00,4.93,0.511,10246,0.039,0.000,2938,2129,1720,1720,4094,0,0,0,0,0,0,26.06,25.52,24.60,10.14,50.59
$GC,1020,1.92,653.5,2938,2128,1720,4094,8.2,11.2,152,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2129,1719,1719,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.14,51.92
$GC,1061,1.97,689.3,2938,2128,1718,4094,3.7,10.1,158,1069,0.10,1.12,3.62,0.338,10756,0.075,0.047,2958,1706,1678,1678,4094,0,0,0,0,0,0,26.10,25.61,24.66,10.15,53.26
$STATE,1075,end climb,SURFACE_DEPTH_REACHED
$STATE,1075,begin surface coast
$FINISH,0.2,1.024151
$STATE,1088,end surface coast,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$SM_CCo,1196,0.00,0.000,0,0,1677,692.03
$SM_GC,0.67,28.45,0.60,0.00,0.019,0.031,0.000,236,1971,1677,-6.55,-1.18,692.03,0,0,0,0,0,0,26.09,26.06,26.12
$IRIDIUM_FIX,5952.82,-17420.78,300817,164728
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.46
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.70,57.534
$10V_AH,10.35,53.920
$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,47.075,9.125,75.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.876,321.812,163.164,235.258,117.163,0.000,334.338,0.000,244.211,0.000,0.542,0.000
$DEVICE_MAMPS,74.970,1252.305,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,10776,162
$CAP_FILE_SIZE,28300,0
$CFSIZE,1024409600,922042368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,175522,6019.958,-17334.268,5,0.9,39,7.1,0.3,304.7,9,4.6