version: 66.13
glider: 401
mission: 22
dive: 3070
start: 9 18 117 0 7 6
data:
$ID,401
$MISSION,22
$DIVE,3070
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,500
$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,25
$R_STBD_OVSHOOT,55
$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,4
$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
$GPS1,170917,235705,5848.3613,-17021.8945,35,0.9,39,8.7,0.2,71.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-42.2
$GPS2,180917,000625,5848.4697,-17021.9668,5,0.7,16,8.6,1.1,41.8,11,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,135.3,39745,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,12,-1.80,-487.5,238,1949,1902,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.099,0.000,947,1941,1902,1902,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.22,52.63
$GC,30,-1.80,-487.5,947,1946,1902,4094,1.0,0.0,1,57,8.50,1.20,-10.77,0.000,19204,0.038,1.210,1755,2345,3053,3053,4094,0,0,0,0,0,0,25.98,23.58,26.06,10.22,53.22
$GC,254,-1.80,-487.5,1755,2345,3059,4094,28.3,-11.6,32,262,0.00,1.00,0.00,0.000,1030,0.000,0.031,1755,1947,3060,3060,4095,0,0,0,0,0,0,26.12,26.08,26.15,10.44,51.89
$GC,303,-1.80,-487.5,1754,1946,3061,4095,35.1,-14.5,38,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1947,3061,3061,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.42,51.22
$GC,352,-1.80,-487.5,1755,1946,3062,4095,42.1,-14.2,44,361,0.00,1.08,0.00,0.000,516,0.000,0.052,1755,1522,3062,3062,4094,0,0,0,0,0,0,26.58,25.99,26.59,10.42,50.70
$GC,427,-1.80,-487.5,1755,1522,3064,4094,53.3,-14.6,54,437,0.00,0.93,0.00,0.000,1030,0.000,0.028,1755,1923,3064,3064,4094,0,0,0,0,0,0,26.29,26.26,26.31,10.40,49.92
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,460,-0.45,0.0,1755,2134,3065,4094,56.7,-14.4,56,496,4.60,0.00,29.00,1.278,10244,0.055,0.000,2186,2134,2484,2484,4095,0,0,0,0,0,0,26.05,25.04,23.68,10.40,49.72
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,497,begin climb
$GC,504,1.80,487.5,2185,2133,2484,4095,60.4,0.0,60,549,7.43,0.00,28.65,1.245,11270,0.028,0.000,2900,2134,1915,1915,4094,0,0,0,0,0,0,25.70,25.86,23.34,10.28,48.89
$GC,591,1.80,487.5,2900,2133,1914,4094,53.4,13.3,70,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2134,1913,1913,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.16,47.99
$GC,641,1.80,487.5,2900,2134,1912,4094,46.1,14.0,76,651,0.00,1.12,0.00,0.000,516,0.000,0.047,2901,1714,1912,1912,4094,0,0,0,0,0,0,25.99,25.52,26.00,10.15,47.91
$GC,782,1.80,487.5,2900,1714,1908,4094,26.7,13.7,96,792,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2132,1907,1907,4094,0,0,0,0,0,0,25.97,25.94,26.03,10.13,48.50
$GC,832,1.80,487.5,2900,2132,1906,4094,20.4,12.0,102,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1906,1906,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.16,49.80
$GC,882,1.87,530.1,2899,2132,1905,4095,15.2,10.1,108,892,0.12,0.00,3.80,0.418,10246,0.065,0.000,2925,2133,1864,1864,4094,0,0,0,0,0,0,26.21,24.57,23.89,10.18,50.78
$GC,933,1.87,530.1,2925,2132,1863,4094,9.2,11.6,114,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2133,1862,1862,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.18,51.53
$GC,984,1.88,535.3,2925,2132,1861,4094,3.4,10.7,120,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2133,1861,1861,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.18,51.73
$STATE,1000,end climb,FINISH_DEPTH_REACHED
$STATE,1000,begin subsurface finish
$FINISH1,0.9,1.024574,71
$GC,1015,0.11,71.4,2925,2135,1860,4094,0.9,11.5,122,1034,5.50,1.23,-4.95,0.000,20996,0.021,1.216,2373,1714,2405,2405,4094,0,0,0,0,0,0,26.20,23.68,26.25,10.18,51.69
$FINISH2,0.1
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,170917,225201
$TT8_MAMPS,0.025466,0.264397
$HUMID,52.48
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.34,89.396
$10V_AH,9.81,78.927
$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,34.650,8.175,61.450,0.000,0.000,24.325,34.208,246.958,0.000,0.000,17.873,358.288,0.000,106.922,779.151,358.592,0.000,319.962,0.000,305.697,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1216.350,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.079,336.921,266.612,395.241,517.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333548
$DATA_FILE_SIZE,10895,124
$CAP_FILE_SIZE,26660,0
$CFSIZE,1024409600,895352832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180917,000625,5848.470,-17021.967,5,0.7,16,8.6,1.1,41.8,11,5.0