version: 66.13
glider: 401
mission: 22
dive: 3065
start: 9 17 117 22 8 10
data:
$ID,401
$MISSION,22
$DIVE,3065
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,170917,214821,5847.9214,-17021.2031,6,0.8,18,8.7,0.0,133.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.4
$GPS2,170917,214821,5847.9214,-17021.2031,6,0.8,18,8.7,0.0,133.2,11,4.7
$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,135.2,38489,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2373,1943,2402,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1809,1945,2402,2402,4094,0,0,0,0,0,0,26.54,28.83,28.83,10.32,52.83
$GC,26,-1.80,-487.5,1809,1945,2403,4094,0.1,0.0,1,40,0.22,1.23,-5.93,0.000,20740,0.048,1.209,1778,2372,3056,3056,4095,0,0,0,0,0,0,26.25,23.74,26.27,10.32,52.48
$GC,64,-1.80,-487.5,1777,2372,3056,4095,2.2,-8.0,6,71,0.00,1.05,0.00,0.000,1030,0.000,0.035,1778,1963,3056,3056,4094,0,0,0,0,0,0,26.08,26.03,26.11,10.45,52.55
$GC,107,-1.80,-487.5,1777,1963,3057,4094,8.1,-14.7,12,113,0.00,1.10,0.00,0.000,260,0.000,0.048,1778,2368,3057,3057,4094,0,0,0,0,0,0,26.49,25.96,26.51,10.45,52.71
$GC,327,-1.80,-487.5,1777,2368,3064,4094,40.7,-13.6,47,334,0.00,1.10,0.00,0.000,1030,0.000,0.032,1778,1928,3064,3064,4095,0,0,0,0,0,0,26.23,26.19,26.27,10.40,51.18
$GC,370,-1.80,-487.5,1777,1928,3065,4095,46.4,-13.3,53,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1928,3065,3065,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.39,50.70
$GC,412,-1.80,-487.5,1777,1928,3066,4094,51.8,-12.5,59,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1928,3065,3065,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.39,50.47
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,444,-0.45,0.0,1777,2139,3066,4095,55.0,-13.2,62,480,4.32,0.00,28.62,1.259,10244,0.051,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.12,25.13,23.78,10.39,50.70
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,487,1.80,487.5,2185,2139,2484,4094,58.3,0.0,68,529,7.40,0.00,28.42,1.229,11270,0.028,0.000,2900,2139,1915,1915,4094,0,0,0,0,0,0,25.75,25.93,23.43,10.27,50.27
$GC,565,1.80,487.5,2899,2139,1915,4094,52.2,13.1,80,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1914,1914,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.15,48.74
$GC,607,1.80,487.5,2899,2138,1914,4094,46.4,13.4,86,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2139,1913,1913,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.14,48.70
$GC,649,1.80,487.5,2899,2139,1912,4094,40.7,13.8,92,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2139,1912,1912,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.15,49.17
$GC,690,1.80,487.5,2899,2138,1911,4094,34.7,14.6,98,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2139,1911,1911,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.15,49.72
$GC,732,1.80,487.5,2899,2138,1909,4094,28.8,14.0,104,739,0.00,1.12,0.00,0.000,516,0.000,0.047,2900,1714,1909,1909,4094,0,0,0,0,0,0,26.27,25.77,26.29,10.13,49.56
$STATE,958,end climb,FINISH_DEPTH_REACHED
$STATE,959,begin subsurface finish
$FINISH1,1.4,1.024574,71
$GC,975,0.11,71.5,2900,2138,1902,4094,1.4,10.4,141,989,5.28,0.00,-4.50,0.000,20486,0.024,0.000,2374,2138,2404,2404,4094,0,0,0,0,0,0,26.18,24.37,26.24,10.19,53.38
$FINISH2,0.1
$STATE,989,end subsurface finish,CONTROL_FINISHED_OK
$STATE,990,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,170917,203944
$TT8_MAMPS,0.025466,0.106358
$HUMID,54.21
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.43,89.250
$10V_AH,10.26,78.804
$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,22.850,7.700,57.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.508,236.781,114.837,207.156,119.731,0.000,262.608,0.000,217.213,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1208.700,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333708
$DATA_FILE_SIZE,10858,143
$CAP_FILE_SIZE,21411,0
$CFSIZE,1024409600,895598592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170917,214821,5847.921,-17021.203,6,0.8,18,8.7,0.0,133.2,11,4.7