version: 66.13
glider: 401
mission: 22
dive: 2213
start: 9 3 117 17 9 31
data:
$ID,401
$MISSION,22
$DIVE,2213
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,030917,164013,6006.1616,-17245.4844,6,0.7,14,7.5,0.0,230.5,12,4.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-1.8
$GPS2,030917,164013,6006.1616,-17245.4844,6,0.7,14,7.5,0.0,230.5,12,4.9
$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,117.1,40032,-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,-487.5,2392,1946,2363,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.024,0.000,1840,1946,2363,2363,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.36,53.26
$GC,25,-1.78,-487.5,1840,1946,2363,4094,0.1,0.0,1,39,0.47,1.23,-6.47,0.000,20996,0.036,1.252,1786,1520,3060,3060,4095,0,0,0,0,0,0,26.13,24.14,26.15,10.35,53.50
$GC,251,-1.78,-487.5,1786,1519,3065,4095,31.1,-15.2,37,257,0.00,1.02,0.00,0.000,1030,0.000,0.027,1787,1957,3066,3066,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.49,53.30
$GC,292,-1.78,-487.5,1786,1957,3066,4094,36.7,-13.0,43,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1958,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.48,52.99
$GC,333,-1.78,-487.5,1786,1957,3067,4095,42.6,-14.5,49,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1958,3067,3067,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.47,52.59
$GC,374,-1.78,-487.5,1786,1958,3068,4094,48.0,-13.3,55,380,0.00,1.08,0.00,0.000,260,0.000,0.046,1786,2369,3068,3068,4094,0,0,0,0,0,0,26.57,26.08,26.58,10.45,51.33
$GC,546,-1.78,-487.5,1786,2369,3070,4094,59.7,-0.2,82,553,0.00,1.08,0.00,0.000,1030,0.000,0.028,1787,1936,3070,3070,4094,0,0,0,0,0,0,26.32,26.28,26.34,10.42,50.00
$GC,589,-1.78,-487.5,1786,1937,3070,4094,59.9,-0.4,88,595,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1937,3070,3070,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.41,50.47
$GC,629,-1.78,-487.5,1786,1937,3070,4095,59.7,1.3,94,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1937,3070,3070,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.41,49.96
$GC,670,-1.78,-487.5,1786,1936,3070,4095,59.6,0.6,100,676,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1938,3070,3070,4095,0,0,0,0,0,0,26.67,26.70,26.69,10.40,49.88
$GC,712,-1.78,-487.5,1786,1938,3070,4095,59.6,0.2,106,718,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1938,3070,3070,4095,0,0,0,0,0,0,26.68,26.70,26.70,10.40,49.76
$GC,753,-1.78,-487.5,1786,1938,3070,4095,59.8,-0.6,112,759,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1938,3071,3071,4095,0,0,0,0,0,0,26.70,26.71,26.71,10.39,50.00
$GC,794,-1.78,-487.5,1786,1937,3070,4095,59.8,-0.7,118,800,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1937,3070,3070,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.39,50.35
$GC,835,-1.78,-487.5,1786,1936,3070,4094,59.5,0.8,124,841,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1937,3070,3070,4095,0,0,0,0,0,0,26.72,26.73,26.73,10.39,49.92
$GC,876,-1.78,-487.5,1786,1936,3070,4095,59.7,-0.3,130,882,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1936,3071,3071,4095,0,0,0,0,0,0,26.72,26.74,26.74,10.39,49.76
$GC,917,-1.78,-487.5,1786,1936,3070,4095,59.6,0.3,136,923,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1936,3070,3070,4094,0,0,0,0,0,0,26.74,26.74,26.74,10.38,50.03
$GC,958,-1.78,-487.5,1786,1936,3070,4094,59.7,0.2,142,964,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1936,3071,3071,4094,0,0,0,0,0,0,26.74,26.76,26.75,10.39,50.19
$STATE,969,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,969,begin apogee
$GC,981,-0.45,0.0,1786,2130,3070,4095,59.6,-0.2,144,1017,4.15,0.00,28.33,1.268,10244,0.036,0.000,2188,2130,2483,2483,4094,0,0,0,0,0,0,26.32,25.44,24.30,10.38,50.31
$STATE,1018,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1024,1.78,487.5,2187,2130,2483,4094,59.6,0.0,150,1066,7.38,0.00,27.88,1.240,11270,0.028,0.000,2892,2131,1915,1915,4094,0,0,0,0,0,0,25.78,25.96,23.89,10.26,49.72
$GC,1101,1.78,487.5,2891,2130,1914,4094,54.3,11.7,162,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2130,1914,1914,4094,0,0,0,0,0,0,25.70,25.70,25.70,10.15,49.25
$GC,1142,1.78,487.5,2891,2129,1913,4094,49.5,11.5,168,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2131,1912,1912,4095,0,0,0,0,0,0,25.87,25.89,25.89,10.14,49.40
$GC,1183,1.78,487.5,2891,2130,1912,4095,44.8,11.4,174,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2131,1912,1912,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.14,50.11
$GC,1224,1.78,487.5,2891,2130,1911,4094,39.8,12.4,180,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2131,1911,1911,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.15,50.03
$GC,1265,1.78,487.5,2891,2130,1910,4094,35.1,11.7,186,1271,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1715,1910,1910,4094,0,0,0,0,0,0,26.17,25.71,26.18,10.16,50.35
$GC,1453,1.80,500.0,2891,1715,1905,4094,14.8,10.3,216,1461,0.00,1.02,2.15,0.081,9222,0.000,0.029,2892,2136,1900,1900,4094,0,0,0,0,0,0,26.07,26.03,24.21,10.21,54.05
$GC,1497,1.88,558.2,2891,2136,1899,4094,10.2,9.7,222,1504,0.28,0.00,4.85,0.481,10246,0.044,0.000,2929,2136,1832,1832,4094,0,0,0,0,0,0,26.15,25.57,24.65,10.22,54.52
$GC,1539,1.88,558.2,2928,2136,1831,4094,5.3,11.5,228,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2136,1831,1831,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.20,55.00
$STATE,1563,end climb,FINISH_DEPTH_REACHED
$STATE,1563,begin subsurface finish
$FINISH1,1.8,1.024100,105
$GC,1576,0.16,104.5,2928,2136,1830,4094,1.8,12.0,232,1590,5.55,0.00,-4.78,0.000,20998,0.033,0.000,2390,2143,2369,2369,4094,0,0,0,0,0,0,26.15,24.39,26.20,10.21,54.80
$FINISH2,0.2
$STATE,1591,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1591,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,145324
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.80
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.89,64.902
$10V_AH,10.36,59.443
$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,23.425,7.500,63.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,591.333,389.211,162.167,339.353,169.969,0.000,394.666,0.000,345.859,0.000,0.542,0.000
$DEVICE_MAMPS,43.605,1252.305,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,157.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,17696,234
$CAP_FILE_SIZE,36323,0
$CFSIZE,1024409600,910704640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,164013,6006.162,-17245.484,6,0.7,14,7.5,0.0,230.5,12,4.9