version: 66.13
glider: 401
mission: 22
dive: 2209
start: 9 3 117 15 1 25
data:
$ID,401
$MISSION,22
$DIVE,2209
$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,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,23
$R_STBD_OVSHOOT,79
$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
$GPS1,030917,144541,6006.2983,-17246.1641,9,0.9,20,7.5,0.5,266.9,9,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-35.9
$GPS2,030917,150043,6006.3208,-17246.1738,7,0.8,36,7.5,0.0,285.1,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$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,117.0,40726,-11.5,-10.526,-14.94,6951
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.78,-487.5,230,1963,1787,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,2049,0.081,0.000,714,1964,1787,1787,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.29,50.90
$GC,25,-1.78,-487.5,713,1963,1787,4094,0.7,0.0,1,56,11.20,1.20,-11.57,0.000,18948,0.041,1.236,1764,1518,3055,3055,4095,0,0,0,0,0,0,25.94,24.07,26.01,10.29,50.82
$GC,292,-1.78,-487.5,1763,1518,3061,4095,34.0,-16.3,44,298,0.00,0.90,0.00,0.000,1030,0.000,0.025,1764,1913,3060,3060,4094,0,0,0,0,0,0,26.20,26.18,26.22,10.54,50.98
$GC,333,-1.78,-487.5,1763,1913,3062,4094,40.3,-14.7,50,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1913,3062,3062,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.52,50.00
$GC,375,-1.78,-487.5,1763,1913,3063,4095,46.1,-13.6,56,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1913,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.49,50.07
$GC,415,-1.78,-487.5,1763,1914,3064,4095,51.9,-14.4,62,422,0.00,1.17,0.00,0.000,260,0.000,0.042,1764,2367,3064,3064,4095,0,0,0,0,0,0,26.55,26.08,26.55,10.48,49.13
$GC,658,-1.78,-487.5,1763,2368,3066,4095,59.9,-0.2,101,665,0.00,0.98,0.00,0.000,1030,0.000,0.029,1764,1969,3066,3066,4094,0,0,0,0,0,0,26.34,26.32,26.37,10.44,48.30
$GC,700,-1.78,-487.5,1763,1969,3066,4094,59.9,0.1,107,706,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1969,3066,3066,4094,0,0,0,0,0,0,26.67,26.68,26.67,10.43,48.03
$GC,742,-1.78,-487.5,1763,1969,3066,4094,59.8,0.4,113,747,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1969,3066,3066,4094,0,0,0,0,0,0,26.67,26.70,26.69,10.43,48.18
$GC,782,-1.78,-487.5,1763,1964,3066,4094,59.7,0.0,119,788,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1969,3066,3066,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.43,48.07
$GC,823,-1.78,-487.5,1763,1965,3066,4095,59.8,-0.2,125,829,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1968,3066,3066,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.43,48.14
$GC,864,-1.78,-487.5,1762,1969,3066,4094,59.9,-0.4,131,870,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1965,3066,3066,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.42,48.89
$GC,906,-1.78,-487.5,1763,1969,3066,4094,59.8,0.1,137,912,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1969,3065,3065,4094,0,0,0,0,0,0,26.72,26.73,26.73,10.41,49.01
$GC,946,-1.78,-487.5,1763,1969,3066,4094,59.8,1.2,143,952,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1968,3066,3066,4095,0,0,0,0,0,0,26.73,26.74,26.74,10.41,48.74
$STATE,969,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,970,begin apogee
$GC,982,-0.45,0.0,1764,2137,3066,4094,59.9,0.1,147,1018,4.45,0.00,28.15,1.263,10244,0.040,0.000,2188,2140,2484,2484,4094,0,0,0,0,0,0,26.31,25.42,24.30,10.41,48.97
$STATE,1019,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1025,1.78,487.5,2188,2140,2484,4094,59.9,0.0,153,1066,7.43,0.00,27.85,1.228,11270,0.029,0.000,2894,2140,1915,1915,4094,0,0,0,0,0,0,25.79,25.96,23.90,10.29,49.09
$GC,1102,1.80,499.2,2894,2140,1915,4094,54.7,10.4,165,1110,0.00,1.17,2.55,0.293,8708,0.000,0.046,2895,1711,1901,1901,4094,0,0,0,0,0,0,25.72,25.08,23.81,10.16,48.07
$GC,1229,1.80,499.2,2893,1710,1897,4094,38.0,13.3,185,1236,0.00,0.98,0.00,0.000,1030,0.000,0.028,2894,2111,1897,1897,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.17,49.05
$GC,1271,1.80,499.2,2894,2111,1896,4094,32.7,12.6,191,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2111,1896,1896,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.18,49.48
$GC,1312,1.80,499.2,2894,2111,1895,4094,27.6,12.0,197,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2111,1895,1895,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.20,51.18
$GC,1353,1.80,499.2,2894,2111,1894,4094,23.0,11.3,203,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2111,1894,1894,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.22,52.00
$GC,1394,1.80,501.3,2894,2111,1893,4094,18.6,10.5,209,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2111,1893,1893,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.23,52.52
$GC,1435,1.80,501.3,2894,2111,1892,4094,14.1,11.0,215,1442,0.00,1.05,0.00,0.000,516,0.000,0.045,2895,1712,1892,1892,4095,0,0,0,0,0,0,26.39,25.94,26.40,10.23,53.03
$STATE,1538,end climb,FINISH_DEPTH_REACHED
$STATE,1538,begin subsurface finish
$FINISH1,1.8,1.024099,105
$GC,1552,0.16,104.6,2894,2142,1889,4094,1.8,11.1,232,1565,5.15,0.00,-4.22,0.000,20486,0.024,0.000,2392,2147,2369,2369,4095,0,0,0,0,0,0,26.17,24.44,26.22,10.24,54.60
$FINISH2,0.0
$STATE,1566,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1567,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,145151
$TT8_MAMPS,0.026215,0.133322
$HUMID,54.41
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,23.81,64.794
$10V_AH,10.29,59.315
$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,33.800,8.925,58.550,0.000,0.000,79.982,66.755,356.237,0.000,0.000,37.700,592.617,488.819,160.002,773.409,461.437,0.000,392.165,0.000,347.506,0.000,0.542,0.000
$DEVICE_MAMPS,81.090,1236.240,1263.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,157.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330600
$DATA_FILE_SIZE,17713,234
$CAP_FILE_SIZE,40224,0
$CFSIZE,1024409600,910901248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,150043,6006.321,-17246.174,7,0.8,36,7.5,0.0,285.1,11,4.9