version: 66.13
glider: 401
mission: 22
dive: 2185
start: 9 3 117 4 21 16
data:
$ID,401
$MISSION,22
$DIVE,2185
$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,600
$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,42
$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
$GPS1,030917,040829,6008.0537,-17253.6230,5,0.8,16,7.4,0.0,148.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-33.3
$GPS2,030917,042032,6007.9985,-17253.4883,7,0.9,29,7.4,0.0,115.0,11,4.8
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,108.8,89824,-10.3,-10.526,-13.92,8308
$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,-1.82,-585.0,239,1971,1463,4091,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.080,0.000,726,1971,1462,1462,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.21,52.32
$GC,24,-1.82,-585.0,725,1971,1462,4094,0.5,0.0,1,61,11.02,1.27,-15.82,0.000,18948,0.045,1.245,1751,1521,3170,3170,4094,0,0,0,0,0,0,25.89,23.96,25.97,10.21,52.48
$GC,249,-1.82,-585.0,1751,1520,3175,4094,30.4,-16.0,37,255,0.00,0.98,0.00,0.000,1030,0.000,0.025,1752,1940,3175,3175,4094,0,0,0,0,0,0,26.12,26.10,26.15,10.54,50.94
$GC,290,-1.82,-585.0,1751,1940,3177,4094,36.9,-15.1,43,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1940,3177,3177,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.52,50.35
$GC,331,-1.82,-585.0,1751,1940,3178,4095,43.1,-15.0,49,338,0.00,1.12,0.00,0.000,260,0.000,0.045,1752,2369,3178,3178,4095,0,0,0,0,0,0,26.46,25.98,26.48,10.51,50.23
$GC,421,-1.82,-585.0,1751,2369,3181,4095,57.4,-16.1,63,427,0.00,1.02,0.00,0.000,1030,0.000,0.028,1751,1957,3181,3181,4095,0,0,0,0,0,0,26.20,26.16,26.22,10.48,49.29
$GC,463,-1.82,-585.0,1751,1957,3181,4095,59.4,-0.0,69,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1957,3181,3181,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.48,48.70
$GC,504,-1.82,-585.0,1751,1957,3181,4094,59.5,-0.3,75,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1957,3181,3181,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.47,48.38
$GC,545,-1.82,-585.0,1751,1957,3181,4095,59.4,0.3,81,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1957,3181,3181,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.47,49.09
$GC,585,-1.82,-585.0,1751,1956,3181,4095,59.5,0.0,87,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1957,3181,3181,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.46,48.34
$GC,627,-1.82,-585.0,1751,1957,3181,4094,59.4,0.2,93,633,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1957,3181,3181,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.46,48.77
$GC,668,-1.82,-585.0,1751,1957,3181,4095,59.5,-0.1,99,674,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1957,3181,3181,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.45,49.05
$GC,709,-1.82,-585.0,1751,1957,3181,4095,59.5,-0.0,105,715,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1957,3181,3181,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.45,48.97
$GC,750,-1.82,-585.0,1751,1957,3181,4094,59.5,0.0,111,755,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1957,3181,3181,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.44,48.66
$GC,791,-1.82,-585.0,1751,1957,3181,4094,59.5,-0.1,117,797,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1957,3181,3181,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.44,48.85
$GC,832,-1.82,-585.0,1751,1954,3181,4095,59.5,-0.0,123,838,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3181,3181,4095,0,0,0,0,0,0,26.67,26.69,26.69,10.44,49.09
$GC,873,-1.82,-585.0,1751,1954,3181,4095,59.4,0.2,129,879,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3181,3181,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.44,48.89
$GC,913,-1.82,-585.0,1751,1954,3181,4095,59.5,-0.7,135,919,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3181,3181,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.43,49.44
$GC,954,-1.82,-585.0,1751,1954,3181,4094,59.5,-0.1,141,960,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3181,3181,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.43,49.80
$STATE,965,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,965,begin apogee
$GC,978,-0.45,0.0,1751,2142,3181,4095,59.5,-0.2,143,1019,4.47,0.00,33.38,1.273,10244,0.032,0.000,2187,2146,2484,2484,4094,0,0,0,0,0,0,26.34,25.30,24.20,10.43,49.17
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1026,1.82,585.0,2187,2146,2484,4094,59.5,0.0,150,1073,7.60,0.00,33.17,1.242,11270,0.029,0.000,2903,2146,1803,1803,4095,0,0,0,0,0,0,25.64,25.82,23.77,10.29,49.48
$GC,1109,1.82,589.0,2903,2146,1802,4095,54.4,10.5,163,1116,0.00,1.15,0.00,0.000,516,0.000,0.045,2903,1717,1801,1801,4094,0,0,0,0,0,0,25.59,25.22,25.60,10.14,48.30
$GC,1259,1.82,589.0,2903,1716,1797,4094,36.4,12.8,187,1265,0.00,0.95,0.00,0.000,1030,0.000,0.028,2903,2106,1797,1797,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.14,49.84
$GC,1300,1.82,589.0,2903,2106,1796,4094,31.0,13.5,193,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2106,1796,1796,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.14,50.07
$GC,1341,1.82,589.0,2903,2106,1795,4094,25.7,12.8,199,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2106,1795,1795,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.15,50.98
$GC,1382,1.82,589.0,2903,2106,1794,4094,20.8,11.2,205,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2106,1793,1793,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.16,51.61
$GC,1423,1.82,589.0,2903,2106,1792,4094,16.4,10.8,211,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2106,1792,1792,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.19,52.24
$GC,1464,1.82,589.0,2903,2106,1791,4094,11.8,10.8,217,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2106,1791,1791,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.19,53.15
$GC,1505,1.82,589.0,2903,2106,1790,4094,7.3,11.2,223,1511,0.00,1.02,0.00,0.000,516,0.000,0.047,2903,1717,1789,1789,4094,0,0,0,0,0,0,26.41,25.94,26.43,10.20,53.30
$STATE,1553,end climb,FINISH_DEPTH_REACHED
$STATE,1553,begin subsurface finish
$FINISH1,1.5,1.024113,104
$GC,1568,0.16,103.6,2903,2145,1788,4094,1.5,10.7,231,1581,5.22,0.00,-5.25,0.000,20486,0.021,0.000,2389,2147,2369,2369,4094,0,0,0,0,0,0,26.15,24.41,26.20,10.21,53.97
$FINISH2,0.1
$STATE,1582,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1582,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,023820
$TT8_MAMPS,0.025466,0.161035
$HUMID,54.33
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.77,64.042
$10V_AH,10.22,58.697
$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,33.950,9.050,66.550,0.000,0.000,25.592,22.066,358.896,0.000,0.000,35.166,586.266,368.859,194.213,691.061,472.418,0.000,440.994,0.000,346.025,0.000,0.544,0.000
$DEVICE_MAMPS,79.560,1245.420,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,155.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329240
$DATA_FILE_SIZE,17774,233
$CAP_FILE_SIZE,43328,0
$CFSIZE,1024409600,912080896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,042032,6007.999,-17253.488,7,0.9,29,7.4,0.0,115.0,11,4.8