version: 66.13
glider: 401
mission: 22
dive: 1987
start: 8 30 117 19 21 49
data:
$ID,401
$MISSION,22
$DIVE,1987
$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
$GPS1,300817,190937,6019.6455,-17334.6309,4,0.9,18,7.1,0.4,233.5,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-33.2
$GPS2,300817,192106,6019.7061,-17334.8340,8,0.8,20,7.1,0.6,354.6,10,5.0
$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,142.9,29186,-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,-585.0,237,1976,1688,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,2049,0.068,0.000,733,1976,1688,1688,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.25,51.61
$GC,24,-1.82,-585.0,732,1976,1687,4094,0.5,0.0,1,55,10.93,1.27,-13.85,0.000,18948,0.044,1.241,1753,1521,3172,3172,4095,0,0,0,0,0,0,25.89,24.00,25.96,10.25,51.41
$GC,224,-1.82,-585.0,1752,1521,3176,4095,26.4,-13.6,33,231,0.00,0.98,0.00,0.000,1030,0.000,0.024,1753,1941,3177,3177,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.53,50.35
$GC,265,-1.82,-585.0,1752,1941,3177,4095,31.5,-12.7,39,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1941,3178,3178,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.51,50.15
$GC,306,-1.82,-585.0,1752,1941,3178,4095,36.6,-12.6,45,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1941,3178,3178,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.48,49.17
$GC,346,-1.82,-585.0,1752,1941,3180,4095,42.1,-14.2,51,353,0.00,1.10,0.00,0.000,260,0.000,0.044,1752,2364,3180,3180,4095,0,0,0,0,0,0,26.46,26.00,26.46,10.47,48.89
$GC,429,-1.82,-585.0,1752,2363,3182,4095,53.8,-13.8,64,436,0.00,1.02,0.00,0.000,1030,0.000,0.028,1753,1954,3181,3181,4095,0,0,0,0,0,0,26.19,26.16,26.21,10.45,47.71
$GC,470,-1.82,-585.0,1752,1954,3183,4095,60.0,-15.2,70,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3182,3182,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,47.71
$STATE,481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,481,begin apogee
$GC,493,-0.45,0.0,1752,2134,3182,4094,62.1,-14.9,72,535,4.65,0.00,33.72,1.331,10244,0.054,0.000,2185,2135,2483,2483,4095,0,0,0,0,0,0,26.07,25.13,24.02,10.44,47.48
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,541,1.82,585.0,2185,2135,2484,4095,65.9,0.0,79,588,7.68,0.00,33.35,1.296,11270,0.031,0.000,2904,2135,1803,1803,4094,0,0,0,0,0,0,25.45,25.61,23.65,10.29,46.81
$GC,623,1.82,585.0,2904,2135,1802,4094,59.2,12.4,92,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1802,1802,4094,0,0,0,0,0,0,25.44,25.45,25.44,10.14,45.66
$GC,663,1.82,585.0,2903,2134,1801,4094,53.6,13.3,98,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1800,1800,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.14,46.53
$GC,704,1.82,585.0,2904,2134,1799,4094,47.9,13.9,104,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1799,1799,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.13,46.02
$GC,744,1.82,585.0,2904,2135,1797,4094,42.5,13.3,110,751,0.00,1.12,0.00,0.000,516,0.000,0.044,2904,1713,1797,1797,4094,0,0,0,0,0,0,25.92,25.53,25.94,10.12,46.57
$GC,845,1.82,585.0,2904,1712,1795,4094,29.7,12.5,126,852,0.00,1.00,0.00,0.000,1030,0.000,0.029,2904,2121,1794,1794,4094,0,0,0,0,0,0,25.84,25.81,25.87,10.11,47.20
$GC,887,1.82,585.0,2904,2121,1794,4094,24.8,12.4,132,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1793,1793,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,48.34
$GC,927,1.82,585.0,2904,2120,1792,4094,19.6,12.7,138,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.13,48.26
$GC,967,1.82,585.0,2904,2121,1791,4094,15.1,11.1,144,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1791,1791,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.16,49.01
$GC,1008,1.82,588.7,2904,2121,1789,4095,10.8,10.5,150,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1789,1789,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.18,50.43
$GC,1048,1.94,669.3,2904,2121,1788,4094,6.7,9.5,156,1062,0.35,1.05,5.62,0.496,10756,0.034,0.044,2946,1712,1701,1701,4094,0,0,0,0,0,0,26.13,25.28,24.72,10.19,52.04
$STATE,1086,end climb,FINISH_DEPTH_REACHED
$STATE,1086,begin subsurface finish
$FINISH1,2.0,1.024163,100
$GC,1100,0.15,100.1,2946,2140,1700,4094,2.0,11.8,162,1118,5.85,0.00,-5.95,0.000,20998,0.039,0.000,2388,2141,2373,2373,4094,0,0,0,0,0,0,26.06,25.43,26.09,10.18,52.48
$FINISH2,0.1
$STATE,1119,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,191344
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.95
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.65,57.685
$10V_AH,10.23,54.021
$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,35.025,9.075,72.700,0.000,0.000,50.087,40.787,281.728,0.000,0.000,21.814,424.787,292.627,165.763,576.512,359.891,0.000,352.374,0.000,249.897,0.000,0.543,0.000
$DEVICE_MAMPS,68.085,1240.830,1331.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10908,165
$CAP_FILE_SIZE,32949,0
$CFSIZE,1024409600,921829376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300817,192106,6019.706,-17334.834,8,0.8,20,7.1,0.6,354.6,10,5.0