version: 66.13
glider: 401
mission: 22
dive: 3434
start: 9 23 117 21 4 39
data:
$ID,401
$MISSION,22
$DIVE,3434
$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,5
$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,13
$R_STBD_OVSHOOT,29
$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
$GPS1,230917,204440,5803.9243,-16921.8184,0,0.9,10,9.1,0.6,60.2,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-4.0
$GPS2,230917,204440,5803.9243,-16921.8184,0,0.9,10,9.1,0.6,60.2,9,4.8
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5756.510,-16908.641
$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,127.6,18877,-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,-487.5,2374,1959,2401,4092,0.0,0.0,0,24,6.10,0.00,-3.12,0.000,20482,0.021,0.000,1762,1963,2731,2731,4094,0,0,0,0,0,0,26.29,28.83,26.34,10.33,53.78
$GC,31,-1.80,-487.5,1761,1957,2731,4094,0.0,0.0,1,43,0.00,1.15,-3.12,0.000,16644,0.000,1.221,1761,2373,3057,3057,4094,0,0,0,0,0,0,26.63,23.87,26.61,10.40,54.21
$GC,187,-1.80,-487.5,1761,2373,3062,4094,22.3,-18.5,13,191,0.00,1.10,0.00,0.000,1030,0.000,0.031,1762,1936,3062,3062,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.48,53.54
$GC,265,-1.80,-487.5,1761,1936,3064,4095,33.4,-13.5,19,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1937,3064,3064,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.45,54.05
$GC,335,-1.80,-487.5,1761,1936,3066,4095,43.4,-14.3,25,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1936,3066,3066,4095,0,0,0,0,0,0,26.67,26.69,26.69,10.42,52.52
$GC,407,-1.80,-487.5,1761,1936,3067,4095,54.1,-14.8,31,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1936,3068,3068,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.42,52.36
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,439,-0.45,0.0,1761,2149,3069,4095,57.4,-14.3,33,476,4.53,0.00,29.15,1.279,10244,0.054,0.000,2185,2149,2484,2484,4094,0,0,0,0,0,0,26.11,25.02,23.62,10.42,51.89
$STATE,477,end apogee,CONTROL_FINISHED_OK
$STATE,477,begin climb
$GC,483,1.80,487.5,2185,2149,2484,4094,62.0,0.0,37,523,7.40,0.00,28.38,1.255,11270,0.029,0.000,2902,2149,1915,1915,4094,0,0,0,0,0,0,25.76,25.95,23.33,10.29,51.22
$GC,587,1.80,487.5,2901,2149,1913,4094,52.5,13.0,46,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2149,1914,1914,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.17,50.23
$GC,659,1.80,487.5,2902,2149,1911,4094,42.7,12.8,52,663,0.00,1.17,0.00,0.000,516,0.000,0.047,2902,1709,1911,1911,4094,0,0,0,0,0,0,26.19,25.67,26.20,10.16,50.31
$GC,771,1.80,487.5,2901,1709,1908,4094,27.9,13.6,61,774,0.00,1.00,0.00,0.000,1030,0.000,0.031,2902,2120,1908,1908,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.16,50.98
$GC,846,1.80,487.5,2901,2119,1906,4094,18.7,12.0,67,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1906,1906,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.19,52.55
$GC,918,1.80,487.5,2901,2119,1904,4095,10.2,12.2,73,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1903,1903,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.20,53.89
$GC,990,1.80,487.5,2901,2120,1901,4094,2.2,10.8,79,994,0.00,1.10,0.00,0.000,516,0.000,0.055,2902,1710,1901,1901,4094,0,0,0,0,0,0,26.59,25.94,26.60,10.21,54.01
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,0.4,1.024521,75
$GC,1015,0.11,75.2,2902,2145,1901,4094,0.4,11.1,80,1029,5.25,0.00,-4.53,0.000,20486,0.024,0.000,2371,2148,2399,2399,4094,0,0,0,0,0,0,26.28,25.58,26.33,10.20,54.01
$FINISH2,0.1
$STATE,1030,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1030,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,230917,193247
$TT8_MAMPS,0.024717,0.104111
$HUMID,54.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.33,99.392
$10V_AH,10.13,83.843
$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,23.275,7.625,57.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,267.459,448.951,100.611,161.730,114.591,0.000,234.198,0.000,170.707,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1220.940,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,7325,82
$CAP_FILE_SIZE,20192,0
$CFSIZE,1024409600,887324672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,21.90,0x2138e4,0,24
$GPS,230917,204440,5803.924,-16921.818,0,0.9,10,9.1,0.6,60.2,9,4.8