version: 66.13
glider: 401
mission: 22
dive: 1989
start: 8 30 117 20 2 43
data:
$ID,401
$MISSION,22
$DIVE,1989
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,300817,192106,6019.7061,-17334.8340,8,0.8,20,7.1,0.6,354.6,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.6
$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,10,-1.82,-585.0,2391,1954,2370,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.023,0.000,1844,1953,2370,2370,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.34,53.30
$GC,24,-1.82,-585.0,1843,1953,2370,4094,0.0,0.0,1,37,0.62,1.25,-7.53,0.000,20996,0.027,1.259,1773,1516,3172,3172,4094,0,0,0,0,0,0,26.13,24.22,26.15,10.34,53.18
$GC,230,-1.82,-585.0,1772,1516,3176,4094,26.0,-12.5,34,237,0.00,1.05,0.00,0.000,1030,0.000,0.027,1773,1961,3177,3177,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.47,52.91
$GC,272,-1.82,-585.0,1772,1961,3178,4095,30.9,-11.8,40,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1961,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.45,52.04
$GC,312,-1.82,-585.0,1772,1961,3178,4095,36.0,-12.4,46,319,0.00,1.08,0.00,0.000,260,0.000,0.046,1773,2371,3178,3178,4095,0,0,0,0,0,0,26.51,26.07,26.52,10.44,51.22
$GC,377,-1.82,-585.0,1773,2371,3179,4095,44.4,-12.5,56,384,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1942,3181,3181,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.42,50.11
$GC,418,-1.82,-585.0,1772,1941,3181,4095,50.1,-13.6,62,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1941,3181,3181,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,49.68
$GC,459,-1.82,-585.0,1772,1941,3183,4095,55.6,-13.5,68,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1941,3183,3183,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,49.56
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,500,-0.45,0.0,1772,2140,3183,4095,60.1,-12.9,73,542,4.45,0.00,33.50,1.307,10244,0.051,0.000,2187,2140,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,24.10,10.40,50.19
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,548,1.82,585.0,2186,2140,2484,4094,63.2,0.0,80,595,7.62,0.00,33.28,1.272,11270,0.028,0.000,2902,2140,1803,1803,4094,0,0,0,0,0,0,25.51,25.67,23.72,10.26,49.01
$GC,630,1.82,585.0,2901,2140,1802,4094,56.3,13.4,93,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2140,1802,1802,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.11,47.99
$GC,671,1.82,585.0,2902,2140,1801,4094,50.9,13.2,99,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2140,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.11,47.55
$GC,711,1.82,585.0,2902,2140,1799,4094,45.7,13.1,105,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2140,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.84,10.11,48.11
$GC,751,1.82,585.0,2901,2140,1798,4094,40.4,13.0,111,758,0.00,1.12,0.00,0.000,516,0.000,0.045,2902,1714,1798,1798,4094,0,0,0,0,0,0,25.94,25.53,25.95,10.10,47.91
$GC,852,1.82,585.0,2902,1714,1795,4094,27.5,12.6,127,859,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2129,1794,1794,4094,0,0,0,0,0,0,25.85,25.81,25.87,10.09,48.58
$GC,894,1.82,585.0,2902,2128,1794,4094,22.1,13.5,133,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1794,1794,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.09,49.33
$GC,934,1.82,585.0,2902,2128,1792,4094,17.0,12.5,139,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.11,49.92
$GC,975,1.82,585.0,2902,2128,1791,4094,12.6,10.8,145,981,0.00,1.10,0.00,0.000,516,0.000,0.045,2902,1713,1791,1791,4094,0,0,0,0,0,0,26.29,25.86,26.29,10.15,50.47
$STATE,1077,end climb,SURFACE_DEPTH_REACHED
$STATE,1077,begin surface coast
$FINISH,0.1,1.024142
$STATE,1090,end surface coast,CONTROL_FINISHED_OK
$STATE,1094,begin surface
$SM_CCo,1200,0.00,0.000,0,0,1787,599.30
$SM_GC,0.42,27.70,0.57,0.00,0.018,0.030,0.000,239,1987,1787,-6.55,-1.32,599.30,0,0,0,0,0,0,26.13,26.16,26.17
$IRIDIUM_FIX,5952.82,-17420.78,300817,191344
$TT8_MAMPS,0.025466,0.113099
$HUMID,54.09
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.72,57.735
$10V_AH,10.35,54.062
$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,46.025,9.275,66.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.651,329.696,157.085,237.706,117.343,0.000,327.438,0.000,247.020,0.000,0.541,0.000
$DEVICE_MAMPS,51.255,1259.190,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10872,164
$CAP_FILE_SIZE,26765,0
$CFSIZE,1024409600,921747456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300817,202405,6019.632,-17334.943,4,0.9,38,7.1,0.4,329.7,9,4.7