version: 66.13
glider: 401
mission: 22
dive: 1984
start: 8 30 117 18 7 59
data:
$ID,401
$MISSION,22
$DIVE,1984
$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,23
$R_STBD_OVSHOOT,44
$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
$GPS1,300817,175522,6019.9585,-17334.2676,5,0.9,39,7.1,0.3,304.7,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-33.4
$GPS2,300817,180720,6019.9565,-17334.4688,1,1.1,13,7.1,0.0,269.9,9,4.8
$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,143.9,29424,-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,-585.0,235,1972,1677,4092,0.0,0.0,0,21,8.45,0.00,0.00,0.000,2049,0.072,0.000,975,1972,1678,1678,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.24,51.49
$GC,26,-1.82,-585.0,975,1972,1678,4094,0.5,0.0,1,54,8.40,1.30,-13.80,0.000,18948,0.046,1.248,1754,1520,3171,3171,4094,0,0,0,0,0,0,25.84,24.01,25.90,10.24,51.69
$GC,240,-1.82,-585.0,1753,1520,3176,4094,27.8,-13.4,31,250,0.00,1.00,0.00,0.000,1030,0.000,0.027,1754,1944,3176,3176,4095,0,0,0,0,0,0,26.10,26.07,26.13,10.50,50.66
$GC,289,-1.82,-585.0,1754,1944,3177,4095,34.5,-13.8,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1944,3178,3178,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.48,49.56
$GC,336,-1.82,-585.0,1754,1944,3178,4095,41.1,-13.8,43,346,0.00,1.12,0.00,0.000,260,0.000,0.046,1754,2372,3179,3179,4095,0,0,0,0,0,0,26.44,25.98,26.45,10.46,48.97
$GC,426,-1.82,-585.0,1753,2372,3181,4095,53.5,-13.9,55,435,0.00,1.05,0.00,0.000,1030,0.000,0.031,1754,1950,3181,3181,4095,0,0,0,0,0,0,26.16,26.14,26.19,10.44,47.63
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,483,-0.45,0.0,1754,2145,3183,4095,60.4,-13.9,61,527,4.65,0.00,33.70,1.333,10244,0.053,0.000,2186,2145,2483,2483,4094,0,0,0,0,0,0,26.07,24.79,24.02,10.44,47.48
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,534,1.82,585.0,2186,2145,2484,4094,64.4,0.0,66,578,7.70,0.00,33.33,1.290,11270,0.031,0.000,2904,2145,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.67,10.29,46.69
$GC,619,1.82,585.0,2904,2145,1801,4094,57.7,13.3,76,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2146,1800,1800,4094,0,0,0,0,0,0,25.46,25.48,25.47,10.14,45.66
$GC,668,1.82,585.0,2904,2145,1799,4094,51.0,13.2,82,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2145,1799,1799,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,46.06
$GC,716,1.82,585.0,2904,2145,1797,4094,44.8,13.0,88,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2145,1797,1797,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.12,45.98
$GC,765,1.82,585.0,2904,2145,1796,4094,38.7,12.1,94,775,0.00,1.15,0.00,0.000,516,0.000,0.044,2904,1713,1796,1796,4094,0,0,0,0,0,0,25.99,25.59,26.01,10.12,47.12
$GC,881,1.82,585.0,2904,1712,1793,4094,24.1,12.8,110,890,0.00,1.00,0.00,0.000,1030,0.000,0.031,2904,2120,1792,1792,4093,0,0,0,0,0,0,25.91,25.87,25.93,10.11,48.22
$GC,931,1.82,585.0,2904,2120,1791,4093,18.1,11.4,116,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1791,1791,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.15,47.75
$GC,980,1.87,623.4,2904,2120,1789,4094,13.2,10.1,122,989,0.10,0.00,3.30,0.342,10246,0.073,0.000,2925,2121,1755,1755,4094,0,0,0,0,0,0,26.10,25.46,24.52,10.17,50.11
$GC,1030,1.87,623.4,2925,2120,1754,4094,7.5,12.0,128,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2120,1754,1754,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,50.94
$STATE,1074,end climb,FINISH_DEPTH_REACHED
$STATE,1074,begin subsurface finish
$FINISH1,1.5,1.024154,101
$GC,1086,0.15,100.8,2925,2120,1752,4094,1.5,12.5,134,1105,5.47,0.00,-5.47,0.000,20486,0.021,0.000,2387,2121,2362,2362,4094,0,0,0,0,0,0,26.10,25.41,26.15,10.20,51.29
$FINISH2,0.1
$STATE,1106,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1106,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,164907
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.40
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.67,57.586
$10V_AH,10.07,53.960
$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,34.775,7.100,70.325,0.000,0.000,22.106,27.573,406.634,0.000,0.000,18.568,393.229,0.000,115.140,907.067,417.618,0.000,342.931,0.000,333.300,0.000,0.544,0.000
$DEVICE_MAMPS,73.440,1248.480,1333.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.451,369.462,292.509,433.609,566.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,14322,136
$CAP_FILE_SIZE,28358,0
$CFSIZE,1024409600,921993216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,180720,6019.957,-17334.469,1,1.1,13,7.1,0.0,269.9,9,4.8