version: 66.13
glider: 401
mission: 22
dive: 1985
start: 8 30 117 18 28 28
data:
$ID,401
$MISSION,22
$DIVE,1985
$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,17
$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
$GPS1,300817,180720,6019.9565,-17334.4688,1,1.1,13,7.1,0.0,269.9,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.8
$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,11,-1.82,-585.0,2386,1960,2362,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.023,0.000,1844,1960,2362,2362,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.34,52.67
$GC,24,-1.82,-585.0,1844,1960,2362,4094,0.1,0.0,1,38,0.62,1.27,-7.60,0.000,20996,0.033,1.258,1778,1515,3171,3171,4095,0,0,0,0,0,0,26.08,24.21,26.10,10.35,52.36
$GC,189,-1.82,-585.0,1777,1513,3176,4095,21.9,-15.4,27,196,0.00,1.05,0.00,0.000,1030,0.000,0.026,1778,1960,3176,3176,4094,0,0,0,0,0,0,26.16,26.15,26.18,10.52,52.55
$GC,230,-1.82,-585.0,1777,1959,3177,4094,27.4,-13.3,33,237,0.00,1.08,0.00,0.000,260,0.000,0.045,1778,2370,3177,3177,4094,0,0,0,0,0,0,26.46,26.02,26.47,10.48,52.00
$GC,301,-1.82,-585.0,1777,2370,3178,4094,36.5,-12.4,44,308,0.00,1.05,0.00,0.000,1030,0.000,0.029,1778,1951,3179,3179,4094,0,0,0,0,0,0,26.17,26.15,26.21,10.45,51.02
$GC,343,-1.82,-585.0,1777,1949,3179,4094,41.7,-12.9,50,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1950,3180,3180,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,50.23
$GC,383,-1.82,-585.0,1777,1950,3181,4095,46.9,-12.8,56,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1950,3181,3181,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.43,49.72
$GC,423,-1.82,-585.0,1777,1950,3182,4095,51.9,-12.3,62,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1950,3181,3181,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.42,49.92
$GC,464,-1.82,-585.0,1777,1950,3183,4094,57.1,-12.9,68,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1950,3183,3183,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.42,48.81
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,499,-0.45,0.0,1778,2145,3183,4095,60.7,-12.8,72,541,4.35,0.00,33.45,1.314,10244,0.050,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.15,25.19,24.10,10.41,49.05
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,547,1.82,585.0,2186,2145,2484,4094,63.9,0.0,78,594,7.68,0.00,33.30,1.281,11270,0.028,0.000,2904,2145,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.72,10.26,48.07
$GC,630,1.82,585.0,2903,2145,1801,4094,57.4,12.6,91,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2145,1801,1801,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.12,47.79
$GC,670,1.82,585.0,2903,2145,1800,4094,52.2,12.2,97,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2145,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.11,47.32
$GC,711,1.82,585.0,2903,2145,1798,4094,47.2,12.7,103,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2145,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.10,47.16
$GC,751,1.82,585.0,2903,2145,1797,4094,42.4,11.7,109,758,0.00,1.15,0.00,0.000,516,0.000,0.044,2904,1714,1797,1797,4093,0,0,0,0,0,0,25.94,25.58,25.95,10.10,47.55
$GC,840,1.82,585.0,2903,1713,1795,4093,30.7,13.7,123,847,0.00,1.00,0.00,0.000,1030,0.000,0.030,2904,2120,1794,1794,4094,0,0,0,0,0,0,25.83,25.82,25.86,10.10,48.26
$GC,881,1.82,585.0,2903,2120,1793,4094,24.8,14.5,129,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1793,1793,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.10,48.42
$GC,922,1.82,585.0,2903,2120,1792,4094,19.1,13.9,135,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.11,49.01
$GC,962,1.82,585.0,2903,2120,1790,4094,14.1,11.7,141,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1790,1790,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.15,50.47
$GC,1002,1.82,585.0,2903,2120,1789,4095,9.7,11.4,147,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1789,1789,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.17,51.45
$GC,1043,1.91,644.6,2903,2120,1788,4094,5.6,9.8,153,1056,0.22,1.08,4.28,0.406,10756,0.043,0.044,2936,1712,1731,1731,4094,0,0,0,0,0,0,26.13,25.63,24.68,10.18,52.04
$STATE,1068,end climb,FINISH_DEPTH_REACHED
$STATE,1068,begin subsurface finish
$FINISH1,1.9,1.024156,101
$GC,1082,0.15,100.6,2935,2142,1731,4094,1.9,12.2,157,1101,5.85,0.00,-5.60,0.000,20998,0.049,0.000,2394,2143,2372,2372,4094,0,0,0,0,0,0,25.98,25.44,26.06,10.18,52.95
$FINISH2,0.3
$STATE,1102,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,164907
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.34
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.72,57.612
$10V_AH,10.36,53.971
$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,24.325,9.675,71.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,412.434,242.900,153.965,232.725,122.147,0.000,335.704,0.000,241.332,0.000,0.543,0.000
$DEVICE_MAMPS,49.725,1257.660,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10869,160
$CAP_FILE_SIZE,28148,0
$CFSIZE,1024409600,921944064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,500.23,0x236164,2,24
$GPS,300817,180720,6019.957,-17334.469,1,1.1,13,7.1,0.0,269.9,9,4.8