version: 66.13
glider: 401
mission: 22
dive: 2210
start: 9 3 117 15 29 37
data:
$ID,401
$MISSION,22
$DIVE,2210
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,030917,150043,6006.3208,-17246.1738,7,0.8,36,7.5,0.0,285.1,11,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-3.3
$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,5,begin dive
$GC,11,-1.78,-487.5,2392,1950,2369,4092,0.0,0.0,0,28,6.30,0.00,-6.43,0.000,20486,0.023,0.000,1775,1950,3055,3055,4095,0,0,0,0,0,0,26.20,24.39,26.27,10.37,54.41
$GC,35,-1.78,-487.5,1774,1949,3055,4095,0.0,-0.6,2,44,0.00,1.08,0.00,0.000,516,0.000,0.050,1775,1522,3055,3055,4095,0,0,0,0,0,0,26.47,26.03,26.48,10.51,54.09
$GC,208,-1.78,-487.5,1774,1522,3060,4095,24.2,-17.6,27,218,0.00,1.00,0.00,0.000,1030,0.000,0.027,1774,1951,3060,3060,4095,0,0,0,0,0,0,26.30,26.25,26.32,10.53,54.13
$GC,259,-1.78,-487.5,1774,1951,3062,4095,32.6,-16.6,33,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1951,3062,3062,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.51,53.30
$GC,308,-1.78,-487.5,1774,1952,3063,4094,40.2,-14.8,39,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1952,3063,3063,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.49,52.59
$GC,358,-1.78,-487.5,1774,1951,3064,4094,46.8,-13.9,45,367,0.00,1.10,0.00,0.000,260,0.000,0.046,1775,2373,3064,3064,4095,0,0,0,0,0,0,26.65,26.16,26.65,10.46,51.69
$GC,433,-1.78,-487.5,1774,2373,3066,4095,57.1,-13.6,55,442,0.00,1.08,0.00,0.000,1030,0.000,0.031,1775,1938,3066,3066,4094,0,0,0,0,0,0,26.29,26.27,26.33,10.44,50.78
$GC,482,-1.78,-487.5,1774,1938,3066,4094,59.3,-0.1,61,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1938,3067,3067,4095,0,0,0,0,0,0,26.68,26.70,26.69,10.43,50.35
$GC,531,-1.78,-487.5,1774,1935,3066,4095,59.2,0.5,67,540,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3066,3066,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.43,49.72
$GC,579,-1.78,-487.5,1774,1935,3066,4094,59.2,0.6,73,588,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1934,3067,3067,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.42,49.64
$GC,627,-1.78,-487.5,1774,1935,3067,4095,59.3,-0.3,79,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3066,3066,4095,0,0,0,0,0,0,26.72,26.73,26.73,10.41,49.25
$GC,676,-1.78,-487.5,1774,1935,3067,4095,59.3,0.2,85,684,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3066,3066,4094,0,0,0,0,0,0,26.73,26.74,26.74,10.41,48.93
$GC,724,-1.78,-487.5,1774,1935,3067,4094,59.5,-0.2,91,733,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1934,3067,3067,4094,0,0,0,0,0,0,26.74,26.75,26.75,10.40,49.01
$GC,773,-1.78,-487.5,1773,1934,3067,4094,59.4,-0.9,97,781,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1934,3067,3067,4095,0,0,0,0,0,0,26.74,26.76,26.76,10.40,49.40
$GC,821,-1.78,-487.5,1774,1935,3067,4095,59.3,-0.2,103,830,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3067,3067,4095,0,0,0,0,0,0,26.76,26.77,26.77,10.40,49.84
$GC,870,-1.78,-487.5,1774,1935,3067,4095,59.4,0.0,109,878,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3066,3066,4095,0,0,0,0,0,0,26.77,26.78,26.77,10.39,49.72
$GC,918,-1.78,-487.5,1774,1935,3067,4095,59.4,-0.1,115,927,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3067,3067,4095,0,0,0,0,0,0,26.77,26.79,26.79,10.39,49.40
$GC,966,-1.78,-487.5,1774,1935,3067,4095,59.4,-0.0,121,975,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3067,3067,4095,0,0,0,0,0,0,26.78,26.79,26.79,10.38,49.40
$STATE,982,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,982,begin apogee
$GC,995,-0.45,0.0,1775,2148,3067,4094,59.3,0.1,123,1031,4.28,0.00,28.15,1.266,10244,0.036,0.000,2189,2141,2484,2484,4094,0,0,0,0,0,0,26.36,25.47,24.32,10.38,49.64
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1038,1.78,487.5,2188,2141,2484,4094,59.3,0.0,127,1083,7.47,0.00,27.73,1.228,11270,0.031,0.000,2892,2141,1916,1916,4094,0,0,0,0,0,0,25.79,26.01,23.93,10.27,49.21
$GC,1124,1.82,518.1,2892,2141,1915,4094,53.8,10.1,137,1134,0.00,1.15,3.55,0.567,8708,0.000,0.045,2892,1712,1880,1880,4094,0,0,0,0,0,0,25.78,25.15,23.87,10.13,48.66
$GC,1219,1.82,518.1,2892,1712,1877,4094,41.8,12.4,150,1227,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2118,1877,1877,4094,0,0,0,0,0,0,25.77,25.73,25.79,10.13,49.48
$GC,1268,1.82,518.1,2892,2118,1876,4094,36.3,11.5,156,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2118,1876,1876,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.15,49.52
$GC,1319,1.82,518.1,2892,2118,1875,4094,30.6,11.8,162,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2118,1875,1875,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.16,50.59
$GC,1368,1.82,518.1,2892,2118,1874,4094,25.0,10.7,168,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2118,1873,1873,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.18,51.53
$GC,1417,1.86,540.7,2892,2118,1872,4094,20.1,10.2,174,1427,0.20,0.00,2.80,0.278,10246,0.054,0.000,2921,2118,1853,1853,4094,0,0,0,0,0,0,26.09,25.01,24.34,10.20,52.12
$GC,1468,1.86,540.7,2920,2118,1851,4094,14.6,11.2,180,1478,0.00,1.05,0.00,0.000,516,0.000,0.045,2921,1719,1851,1851,4094,0,0,0,0,0,0,26.39,25.93,26.40,10.21,52.91
$STATE,1579,end climb,FINISH_DEPTH_REACHED
$STATE,1579,begin subsurface finish
$FINISH1,1.4,1.024103,104
$GC,1593,0.16,104.3,2921,2150,1848,4094,1.4,11.9,196,1612,5.40,0.00,-4.65,0.000,20486,0.022,0.000,2389,2158,2361,2361,4094,0,0,0,0,0,0,26.19,25.49,26.24,10.23,54.56
$FINISH2,0.0
$STATE,1613,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1613,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,145151
$TT8_MAMPS,0.025466,0.268891
$HUMID,54.56
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.87,64.814
$10V_AH,10.09,59.359
$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,23.650,9.550,62.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,536.295,0.000,146.757,826.557,165.174,0.000,452.479,0.000,475.873,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,50.490,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,134.974,537.971,425.894,631.240,823.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,21262,198
$CAP_FILE_SIZE,35163,0
$CFSIZE,1024409600,910852096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,150043,6006.321,-17246.174,7,0.8,36,7.5,0.0,285.1,11,4.9