version: 66.13
glider: 401
mission: 22
dive: 1986
start: 8 30 117 18 48 51
data:
$ID,401
$MISSION,22
$DIVE,1986
$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,38
$R_STBD_OVSHOOT,30
$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,0.07
$_SM_ANGLEo,-1.6
$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,-585.0,2394,1931,2372,4092,0.0,0.0,0,20,6.38,0.00,-1.10,0.000,20482,0.024,0.000,1777,1933,2490,2490,4094,0,0,0,0,0,0,26.06,28.83,26.12,10.34,53.89
$GC,26,-1.82,-585.0,1776,1932,2490,4094,0.0,0.0,1,36,0.00,0.00,-6.53,0.000,16390,0.000,0.000,1776,1933,3172,3172,4095,0,0,0,0,0,0,26.35,24.49,26.36,10.36,53.66
$GC,75,-1.82,-585.0,1776,1932,3172,4095,2.3,-8.8,7,83,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1932,3173,3173,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.51,53.62
$GC,121,-1.82,-585.0,1776,1932,3174,4095,9.8,-16.3,13,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1933,3174,3174,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.52,53.70
$GC,169,-1.82,-585.0,1775,1932,3175,4095,18.3,-18.1,19,178,0.00,1.02,0.00,0.000,516,0.000,0.052,1776,1532,3175,3175,4095,0,0,0,0,0,0,26.43,25.98,26.44,10.52,53.42
$GC,243,-1.82,-585.0,1776,1531,3177,4095,28.9,-13.6,29,253,0.00,0.98,0.00,0.000,1030,0.000,0.026,1776,1950,3177,3177,4095,0,0,0,0,0,0,26.21,26.18,26.22,10.46,52.63
$GC,293,-1.82,-585.0,1776,1950,3179,4095,35.4,-13.6,35,303,0.00,1.10,0.00,0.000,260,0.000,0.046,1776,2374,3179,3179,4095,0,0,0,0,0,0,26.51,26.06,26.51,10.45,51.22
$GC,361,-1.82,-585.0,1776,2374,3180,4095,45.1,-14.0,44,371,0.00,1.02,0.00,0.000,1030,0.000,0.029,1776,1968,3180,3180,4094,0,0,0,0,0,0,26.23,26.20,26.24,10.43,50.07
$GC,410,-1.82,-585.0,1776,1968,3181,4094,51.6,-13.0,50,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1968,3182,3182,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.41,49.56
$GC,457,-1.82,-585.0,1776,1968,3183,4094,57.8,-13.1,56,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1969,3183,3183,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.41,49.09
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,485,-0.45,0.0,1776,2145,3183,4095,60.7,-13.0,58,530,4.40,0.00,33.70,1.324,10244,0.052,0.000,2186,2145,2484,2484,4095,0,0,0,0,0,0,26.15,24.87,24.10,10.41,49.09
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,536,1.82,585.0,2185,2145,2484,4095,65.0,0.0,63,581,7.70,0.00,33.47,1.295,11270,0.031,0.000,2904,2145,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.70,10.26,48.58
$GC,622,1.82,585.0,2903,2145,1800,4094,58.9,12.3,73,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2145,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.11,46.88
$GC,671,1.82,585.0,2903,2145,1799,4094,52.4,12.8,79,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2145,1799,1799,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.11,47.32
$GC,720,1.82,585.0,2904,2145,1797,4094,45.5,13.8,85,730,0.00,1.17,0.00,0.000,516,0.000,0.044,2904,1706,1797,1797,4094,0,0,0,0,0,0,25.88,25.53,25.89,10.10,47.36
$GC,814,1.82,585.0,2904,1706,1795,4094,32.4,13.3,98,823,0.00,1.02,0.00,0.000,1030,0.000,0.030,2904,2121,1794,1794,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.10,47.91
$GC,863,1.82,585.0,2903,2121,1793,4094,26.0,13.8,104,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.10,48.26
$GC,912,1.82,585.0,2903,2121,1791,4094,19.5,13.2,110,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1791,1791,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.10,49.37
$GC,962,1.96,678.4,2903,2120,1790,4094,14.4,9.4,116,972,0.38,0.00,6.12,0.576,10246,0.035,0.000,2947,2121,1692,1692,4095,0,0,0,0,0,0,26.04,25.53,24.64,10.15,50.03
$GC,1013,1.96,678.4,2946,2121,1690,4095,8.6,12.2,122,1021,0.00,1.10,0.00,0.000,516,0.000,0.045,2947,1706,1690,1690,4094,0,0,0,0,0,0,26.26,25.84,26.27,10.15,51.37
$STATE,1062,end climb,SURFACE_DEPTH_REACHED
$STATE,1062,begin surface coast
$FINISH,0.1,1.024164
$STATE,1077,end surface coast,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$SM_CCo,1184,0.00,0.000,0,0,1688,684.30
$SM_GC,0.94,28.33,0.60,0.00,0.019,0.031,0.000,237,1969,1688,-6.55,-1.37,684.30,0,0,0,0,0,0,26.08,26.09,26.12
$IRIDIUM_FIX,5952.82,-17420.78,300817,164907
$TT8_MAMPS,0.025466,0.250915
$HUMID,52.67
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.70,57.638
$10V_AH,10.07,54.002
$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,47.175,8.975,73.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.637,59.907,143.239,546.261,123.559,0.000,366.726,0.000,319.867,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,52.020,1324.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.909,355.890,281.715,417.340,544.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,14225,131
$CAP_FILE_SIZE,27319,0
$CFSIZE,1024409600,921894912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,190937,6019.646,-17334.631,4,0.9,18,7.1,0.4,233.5,9,4.9