version: 66.13
glider: 401
mission: 22
dive: 1993
start: 8 30 117 21 47 49
data:
$ID,401
$MISSION,22
$DIVE,1993
$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,31
$R_STBD_OVSHOOT,50
$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
$GPS1,300817,213658,6019.7759,-17334.9785,4,0.9,24,7.1,0.3,338.7,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-37.6
$GPS2,300817,214710,6019.8813,-17335.0703,8,0.8,24,7.1,0.6,330.3,10,5.0
$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,142.8,29577,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.82,-585.0,239,1942,1786,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,2049,0.075,0.000,729,1942,1786,1786,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.37
$GC,24,-1.82,-585.0,728,1942,1787,4094,0.5,0.0,1,55,11.00,1.20,-12.95,0.000,18948,0.043,1.255,1753,1525,3172,3172,4095,0,0,0,0,0,0,25.92,24.01,25.98,10.26,51.92
$GC,212,-1.82,-585.0,1753,1525,3176,4095,23.3,-14.2,31,219,0.00,0.95,0.00,0.000,1030,0.000,0.025,1753,1936,3177,3177,4094,0,0,0,0,0,0,26.09,26.07,26.11,10.52,50.55
$GC,254,-1.82,-585.0,1753,1935,3178,4094,28.6,-12.7,37,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1936,3177,3177,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.50,50.59
$GC,294,-1.82,-585.0,1753,1936,3178,4095,34.0,-12.9,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1936,3178,3178,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.48,49.52
$GC,334,-1.82,-585.0,1752,1936,3179,4094,39.1,-12.2,49,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1937,3179,3179,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.47,49.01
$GC,375,-1.82,-585.0,1752,1937,3181,4094,44.5,-13.9,55,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1937,3180,3180,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,48.42
$GC,415,-1.82,-585.0,1752,1937,3181,4095,49.9,-13.3,61,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1937,3180,3180,4094,0,0,0,0,0,0,26.49,26.50,26.50,10.44,47.95
$GC,456,-1.82,-585.0,1753,1937,3183,4094,55.4,-14.2,67,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1938,3183,3183,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.44,47.40
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,503,-0.45,0.0,1753,2133,3183,4095,60.8,-13.5,73,545,4.62,0.00,33.62,1.319,10244,0.050,0.000,2185,2133,2484,2484,4095,0,0,0,0,0,0,26.08,25.13,24.04,10.43,48.18
$STATE,546,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,551,1.82,585.0,2185,2133,2484,4095,64.0,0.0,80,598,7.65,0.00,33.33,1.280,11270,0.028,0.000,2903,2133,1801,1801,4094,0,0,0,0,0,0,25.46,25.62,23.67,10.29,47.08
$GC,633,1.82,585.0,2903,2133,1800,4094,57.3,12.2,93,640,0.00,1.15,0.00,0.000,516,0.000,0.048,2904,1718,1800,1800,4095,0,0,0,0,0,0,25.44,25.10,25.45,10.14,46.57
$GC,710,1.82,585.0,2903,1718,1797,4095,47.5,13.7,105,717,0.00,1.02,0.00,0.000,1030,0.000,0.029,2903,2127,1797,1797,4094,0,0,0,0,0,0,25.53,25.48,25.55,10.12,46.45
$GC,751,1.82,585.0,2903,2127,1796,4094,42.2,12.9,111,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1796,1796,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.11,47.04
$GC,792,1.82,585.0,2903,2127,1794,4094,36.8,13.9,117,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2127,1795,1795,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.12,46.65
$GC,832,1.82,585.0,2903,2127,1794,4094,31.3,13.1,123,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2128,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,48.03
$GC,873,1.82,585.0,2903,2127,1792,4094,26.2,12.8,129,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2127,1792,1792,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.11,47.32
$GC,913,1.82,585.0,2903,2127,1791,4094,21.2,12.7,135,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2127,1790,1790,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,47.91
$GC,953,1.82,585.0,2903,2127,1790,4094,16.3,11.8,141,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2127,1789,1789,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.14,48.85
$GC,994,1.82,585.0,2903,2127,1788,4095,12.0,10.8,147,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2128,1788,1788,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.17,50.47
$GC,1034,1.95,673.8,2903,2127,1787,4094,8.0,9.4,153,1047,0.38,0.00,5.72,0.510,10246,0.034,0.000,2947,2128,1697,1697,4094,0,0,0,0,0,0,26.08,25.25,24.71,10.18,51.85
$STATE,1077,end climb,FINISH_DEPTH_REACHED
$STATE,1077,begin subsurface finish
$FINISH1,1.9,1.024131,102
$GC,1089,0.15,102.4,2946,2127,1696,4094,1.9,12.5,160,1108,5.90,1.15,-5.75,0.000,20996,0.041,1.238,2392,1699,2370,2370,4094,0,0,0,0,0,0,25.99,24.25,26.02,10.18,52.20
$FINISH2,0.4
$STATE,1109,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,300817,202808
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.95
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.67,57.876
$10V_AH,10.22,54.161
$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,35.125,6.025,72.675,0.000,0.000,23.964,21.964,289.208,0.000,0.000,25.725,418.944,240.447,168.352,540.727,360.164,0.000,355.909,0.000,247.136,0.000,0.542,0.000
$DEVICE_MAMPS,74.970,1255.365,1318.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,10817,163
$CAP_FILE_SIZE,32265,0
$CFSIZE,1024409600,921550848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300817,214710,6019.881,-17335.070,8,0.8,24,7.1,0.6,330.3,10,5.0