version: 66.13
glider: 401
mission: 22
dive: 2186
start: 9 3 117 4 49 45
data:
$ID,401
$MISSION,22
$DIVE,2186
$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,27
$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,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
$GPS1,030917,042032,6007.9985,-17253.4883,7,0.9,29,7.4,0.0,115.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-0.7
$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,-585.0,2389,1948,2369,4093,0.0,0.0,0,29,6.43,0.00,-7.68,0.000,20486,0.023,0.000,1756,1949,3171,3171,4094,0,0,0,0,0,0,26.24,24.32,26.28,10.35,54.44
$GC,35,-1.82,-585.0,1756,1948,3171,4094,0.1,-1.2,2,44,0.00,1.10,0.00,0.000,516,0.000,0.055,1756,1521,3171,3171,4094,0,0,0,0,0,0,26.48,26.01,26.49,10.52,54.56
$GC,220,-1.82,-585.0,1755,1521,3176,4094,24.8,-16.0,29,229,0.00,1.02,0.00,0.000,1030,0.000,0.028,1756,1956,3176,3176,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.51,53.78
$GC,270,-1.82,-585.0,1755,1956,3178,4094,32.3,-15.4,35,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1956,3178,3178,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.50,53.34
$GC,319,-1.82,-585.0,1756,1956,3179,4095,39.6,-14.8,41,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1956,3179,3179,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.48,52.40
$GC,369,-1.82,-585.0,1755,1956,3180,4095,47.3,-16.0,47,377,0.00,1.08,0.00,0.000,260,0.000,0.048,1756,2367,3181,3181,4094,0,0,0,0,0,0,26.65,26.15,26.65,10.47,51.77
$GC,639,-1.82,-585.0,1755,2367,3183,4094,59.9,-0.1,86,647,0.00,1.02,0.00,0.000,1030,0.000,0.033,1756,1958,3183,3183,4095,0,0,0,0,0,0,26.40,26.34,26.43,10.43,49.96
$GC,689,-1.82,-585.0,1755,1957,3182,4095,59.9,0.0,92,696,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1957,3183,3183,4095,0,0,0,0,0,0,26.73,26.74,26.74,10.43,50.19
$GC,738,-1.82,-585.0,1755,1957,3183,4095,59.9,0.2,98,747,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1957,3183,3183,4094,0,0,0,0,0,0,26.74,26.75,26.75,10.43,50.43
$GC,787,-1.82,-585.0,1755,1957,3183,4094,59.9,-0.1,104,796,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1957,3183,3183,4094,0,0,0,0,0,0,26.75,26.77,26.76,10.42,50.19
$GC,837,-1.82,-585.0,1755,1957,3183,4094,59.9,0.1,110,846,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1957,3183,3183,4095,0,0,0,0,0,0,26.76,26.77,26.77,10.42,49.80
$GC,888,-1.82,-585.0,1755,1956,3183,4095,59.9,0.2,116,895,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3183,3183,4095,0,0,0,0,0,0,26.77,26.78,26.78,10.42,50.74
$GC,936,-1.82,-585.0,1755,1954,3183,4095,59.9,1.5,122,945,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1954,3183,3183,4095,0,0,0,0,0,0,26.77,26.79,26.79,10.40,49.72
$STATE,972,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,972,begin apogee
$GC,985,-0.45,0.0,1756,2143,3183,4095,60.0,-0.1,127,1029,4.45,0.00,33.45,1.284,10244,0.033,0.000,2187,2143,2483,2483,4094,0,0,0,0,0,0,26.39,25.01,24.22,10.41,50.74
$STATE,1030,end apogee,CONTROL_FINISHED_OK
$STATE,1030,begin climb
$GC,1036,1.82,585.0,2187,2142,2483,4094,59.9,0.0,132,1081,7.62,0.00,33.22,1.251,11270,0.031,0.000,2905,2143,1802,1802,4094,0,0,0,0,0,0,25.69,25.88,23.77,10.27,49.40
$GC,1122,1.82,585.0,2904,2142,1801,4094,54.9,10.7,142,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2143,1801,1801,4094,0,0,0,0,0,0,25.63,25.64,25.63,10.12,48.97
$GC,1171,1.82,585.0,2904,2142,1800,4094,49.2,11.8,148,1180,0.00,1.17,0.00,0.000,516,0.000,0.045,2905,1707,1800,1800,4094,0,0,0,0,0,0,25.85,25.44,25.85,10.12,48.85
$GC,1285,1.82,585.0,2904,1706,1796,4094,35.2,12.2,164,1294,0.00,1.00,0.00,0.000,1030,0.000,0.029,2904,2113,1796,1796,4094,0,0,0,0,0,0,25.86,25.79,25.86,10.12,50.00
$GC,1335,1.82,585.0,2904,2113,1795,4094,28.9,12.9,170,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2113,1795,1795,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.13,50.51
$GC,1385,1.82,585.0,2904,2113,1794,4094,22.9,12.3,176,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1794,1794,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.14,50.63
$GC,1434,1.82,585.0,2904,2113,1792,4095,17.2,11.0,182,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2113,1792,1792,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.17,51.85
$GC,1484,1.82,591.0,2904,2113,1791,4095,11.9,10.5,188,1493,0.00,1.08,0.00,0.000,516,0.000,0.046,2905,1707,1790,1790,4094,0,0,0,0,0,0,26.39,25.90,26.40,10.18,52.59
$STATE,1567,end climb,FINISH_DEPTH_REACHED
$STATE,1567,begin subsurface finish
$FINISH1,1.8,1.024108,104
$GC,1581,0.16,104.0,2904,2148,1788,4094,1.8,10.5,200,1600,5.28,0.00,-5.30,0.000,20486,0.024,0.000,2392,2149,2368,2368,4094,0,0,0,0,0,0,26.13,25.46,26.18,10.20,53.46
$FINISH2,0.0
$STATE,1601,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1601,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,023820
$TT8_MAMPS,0.025466,0.250915
$HUMID,54.60
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.77,64.066
$10V_AH,10.09,58.742
$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,23.775,9.525,66.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,547.524,0.000,131.997,839.832,144.476,0.000,415.480,0.000,486.071,0.000,0.542,0.000
$DEVICE_MAMPS,32.895,55.080,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,138.357,548.822,434.534,643.481,837.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330536
$DATA_FILE_SIZE,21316,202
$CAP_FILE_SIZE,31302,0
$CFSIZE,1024409600,912048128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,042032,6007.999,-17253.488,7,0.9,29,7.4,0.0,115.0,11,4.8