version: 66.13
glider: 401
mission: 22
dive: 1990
start: 8 30 117 20 34 11
data:
$ID,401
$MISSION,22
$DIVE,1990
$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,29
$R_STBD_OVSHOOT,63
$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
$GPS1,300817,202405,6019.6323,-17334.9434,4,0.9,38,7.1,0.4,329.7,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-37.1
$GPS2,300817,203324,6019.7100,-17335.1074,6,0.9,6,7.1,0.0,0.0,9,0.0
$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,142.5,29320,-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,-585.0,239,1948,1787,4092,0.0,0.0,0,21,8.50,0.00,0.00,0.000,2049,0.092,0.000,955,1942,1787,1787,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,52.36
$GC,27,-1.82,-585.0,955,1947,1787,4094,0.8,0.0,1,53,8.50,1.17,-12.93,0.000,18948,0.041,1.241,1751,1526,3171,3171,4094,0,0,0,0,0,0,25.89,24.05,25.92,10.26,51.73
$GC,266,-1.82,-585.0,1750,1526,3177,4094,28.9,-13.0,35,276,0.00,0.93,0.00,0.000,1030,0.000,0.024,1751,1927,3177,3177,4095,0,0,0,0,0,0,26.16,26.14,26.17,10.50,50.66
$GC,315,-1.82,-585.0,1750,1927,3178,4095,35.2,-13.3,41,323,0.00,1.12,0.00,0.000,260,0.000,0.044,1751,2359,3178,3178,4094,0,0,0,0,0,0,26.46,26.00,26.46,10.48,49.64
$GC,382,-1.82,-585.0,1750,2359,3180,4094,44.7,-14.3,50,391,0.00,0.98,0.00,0.000,1030,0.000,0.028,1751,1971,3180,3180,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.46,48.38
$GC,431,-1.82,-585.0,1750,1971,3181,4095,51.8,-14.7,56,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1971,3180,3180,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.45,47.95
$GC,479,-1.82,-585.0,1750,1971,3183,4095,58.3,-13.5,62,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1971,3183,3183,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.44,48.03
$STATE,495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,495,begin apogee
$GC,507,-0.45,0.0,1751,2132,3183,4094,61.3,-13.8,64,552,4.68,0.00,33.85,1.333,10244,0.054,0.000,2184,2132,2484,2484,4094,0,0,0,0,0,0,26.09,25.14,24.03,10.44,47.12
$STATE,553,end apogee,CONTROL_FINISHED_OK
$STATE,553,begin climb
$GC,558,1.82,585.0,2184,2132,2484,4094,65.3,0.0,69,603,7.68,0.00,33.50,1.299,11270,0.029,0.000,2904,2132,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.65,10.29,46.57
$GC,644,1.82,585.0,2903,2131,1800,4094,59.0,12.8,79,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2131,1800,1800,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.13,45.74
$GC,692,1.82,585.0,2903,2132,1799,4094,52.7,13.3,85,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1799,1799,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.13,46.18
$GC,741,1.82,585.0,2904,2131,1797,4094,45.8,13.9,91,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1797,1797,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.13,46.53
$GC,790,1.82,585.0,2903,2132,1795,4094,39.1,13.3,97,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1795,1795,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.12,46.33
$GC,839,1.82,585.0,2903,2132,1794,4094,32.4,13.9,103,849,0.00,1.12,0.00,0.000,516,0.000,0.044,2904,1707,1794,1794,4094,0,0,0,0,0,0,26.09,25.66,26.10,10.11,46.69
$GC,922,1.82,585.0,2903,1705,1791,4094,21.1,13.6,114,930,0.00,1.02,0.00,0.000,1030,0.000,0.030,2904,2124,1790,1790,4094,0,0,0,0,0,0,25.94,25.88,25.94,10.12,47.79
$GC,971,1.82,585.0,2903,2123,1790,4094,15.1,11.4,120,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1789,1789,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.16,48.46
$GC,1020,1.89,631.9,2903,2124,1788,4094,10.0,9.9,126,1030,0.15,0.00,3.65,0.369,10246,0.055,0.000,2930,2124,1747,1747,4095,0,0,0,0,0,0,26.11,25.14,24.58,10.19,50.74
$GC,1071,1.89,631.9,2929,2123,1745,4095,4.6,11.4,132,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2124,1745,1745,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.18,51.06
$STATE,1087,end climb,FINISH_DEPTH_REACHED
$STATE,1088,begin subsurface finish
$FINISH1,1.8,1.024139,102
$GC,1100,0.15,101.8,2929,2123,1745,4094,1.8,11.4,134,1118,5.53,1.15,-5.57,0.000,20996,0.021,1.242,2389,1700,2368,2368,4095,0,0,0,0,0,0,26.08,24.26,26.13,10.19,51.45
$FINISH2,0.1
$STATE,1119,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,191520
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.92
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.65,57.779
$10V_AH,10.08,54.100
$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,35.025,8.000,71.000,0.000,0.000,26.034,16.846,270.088,0.000,0.000,13.804,392.448,0.000,122.800,838.919,341.843,0.000,357.143,0.000,333.691,0.000,0.542,0.000
$DEVICE_MAMPS,91.800,1242.360,1333.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.198,369.489,292.474,433.055,563.372,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,14300,136
$CAP_FILE_SIZE,29357,0
$CFSIZE,1024409600,921698304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300817,203324,6019.710,-17335.107,6,0.9,6,7.1,0.0,0.0,9,0.0