version: 66.13
glider: 401
mission: 22
dive: 3071
start: 9 18 117 0 26 31
data:
$ID,401
$MISSION,22
$DIVE,3071
$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,27
$R_STBD_OVSHOOT,48
$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
$GPS1,180917,000625,5848.4697,-17021.9668,5,0.7,16,8.6,1.1,41.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.2
$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,-487.5,2373,1981,2405,4093,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1814,1981,2405,2405,4095,0,0,0,0,0,0,26.52,28.83,28.83,10.32,52.95
$GC,26,-1.80,-487.5,1813,1981,2405,4095,0.1,0.0,1,40,0.28,1.08,-6.10,0.000,20740,0.039,1.213,1775,2362,3055,3055,4095,0,0,0,0,0,0,26.27,23.72,26.28,10.31,52.20
$GC,70,-1.80,-487.5,1774,2362,3055,4095,0.7,-1.7,7,77,0.00,1.05,0.00,0.000,1030,0.000,0.032,1775,1949,3055,3055,4095,0,0,0,0,0,0,26.10,26.06,26.12,10.45,53.03
$GC,113,-1.80,-487.5,1774,1949,3056,4095,5.0,-11.0,13,119,0.00,1.10,0.00,0.000,516,0.000,0.055,1775,1521,3056,3056,4094,0,0,0,0,0,0,26.49,25.92,26.51,10.46,52.52
$GC,333,-1.80,-487.5,1774,1521,3062,4094,37.0,-13.5,48,340,0.00,0.95,0.00,0.000,1030,0.000,0.027,1775,1930,3062,3062,4095,0,0,0,0,0,0,26.30,26.28,26.33,10.41,51.45
$GC,376,-1.80,-487.5,1774,1930,3063,4095,42.8,-13.6,54,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1930,3064,3064,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.40,51.29
$GC,418,-1.80,-487.5,1774,1930,3065,4094,48.8,-14.0,60,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1930,3065,3065,4094,0,0,0,0,0,0,26.67,26.68,26.67,10.39,50.74
$GC,460,-1.80,-487.5,1774,1929,3066,4094,54.3,-12.9,66,466,0.00,1.12,0.00,0.000,260,0.000,0.044,1775,2366,3066,3066,4094,0,0,0,0,0,0,26.68,26.14,26.69,10.39,51.41
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,486,-0.45,0.0,1774,2115,3066,4094,56.6,-13.1,68,522,4.38,0.00,28.77,1.266,10244,0.054,0.000,2186,2109,2484,2484,4095,0,0,0,0,0,0,26.12,25.12,23.77,10.39,50.59
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,530,1.80,487.5,2186,2109,2484,4095,60.3,0.0,74,571,7.43,0.00,28.30,1.239,11270,0.029,0.000,2902,2109,1916,1916,4094,0,0,0,0,0,0,25.74,25.92,23.40,10.27,49.92
$GC,607,1.80,487.5,2901,2108,1915,4094,53.3,13.2,86,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2109,1915,1915,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.15,49.13
$GC,649,1.80,487.5,2900,2108,1913,4094,47.4,13.9,92,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2109,1913,1913,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.14,49.64
$GC,691,1.80,487.5,2900,2109,1912,4094,41.4,13.9,98,698,0.00,1.00,0.00,0.000,516,0.000,0.048,2901,1731,1911,1911,4094,0,0,0,0,0,0,26.08,25.62,26.09,10.13,48.93
$GC,824,1.80,487.5,2901,1730,1907,4094,22.9,15.3,119,830,0.00,1.00,0.00,0.000,1030,0.000,0.031,2901,2139,1908,1908,4094,0,0,0,0,0,0,25.99,25.96,26.03,10.14,50.00
$GC,866,1.80,487.5,2901,2139,1907,4094,17.5,12.3,125,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1906,1906,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.17,51.33
$GC,908,1.80,487.5,2901,2139,1905,4094,12.6,11.2,131,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1905,1905,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.17,51.89
$GC,950,1.80,487.5,2901,2139,1904,4094,7.6,12.0,137,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1904,1904,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.18,52.32
$GC,992,1.88,540.2,2901,2139,1903,4094,3.3,10.0,143,1001,0.17,1.08,4.18,0.386,10756,0.052,0.044,2932,1731,1851,1851,4094,0,0,0,0,0,0,26.27,25.18,24.04,10.19,53.11
$STATE,1006,end climb,FINISH_DEPTH_REACHED
$STATE,1006,begin subsurface finish
$FINISH1,1.1,1.024590,70
$GC,1022,0.11,70.4,2931,2146,1851,4094,1.1,9.9,145,1042,5.55,1.20,-4.75,0.000,20996,0.018,1.214,2368,1726,2407,2407,4094,0,0,0,0,0,0,26.22,23.68,26.25,10.18,53.07
$FINISH2,0.4
$STATE,1043,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1043,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,170917,225201
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.78
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.40,89.417
$10V_AH,10.25,78.937
$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,23.425,11.800,61.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,389.680,230.715,133.712,215.226,137.462,0.000,294.943,0.000,224.406,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1214.055,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333716
$DATA_FILE_SIZE,10844,148
$CAP_FILE_SIZE,25604,0
$CFSIZE,1024409600,895303680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180917,000625,5848.470,-17021.967,5,0.7,16,8.6,1.1,41.8,11,5.0