version: 66.13
glider: 401
mission: 22
dive: 2188
start: 9 3 117 6 0 3
data:
$ID,401
$MISSION,22
$DIVE,2188
$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,28
$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
$GPS1,030917,054725,6007.5591,-17251.7422,4,0.8,15,7.5,0.3,215.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-37.9
$GPS2,030917,055919,6007.4849,-17251.6660,7,0.9,18,7.5,0.3,112.0,9,4.5
$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,108.6,87880,-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,-585.0,231,1943,1727,4092,0.0,0.0,0,21,8.45,0.00,0.00,0.000,2049,0.099,0.000,932,1943,1727,1727,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.25,52.48
$GC,27,-1.82,-585.0,932,1943,1727,4094,0.8,0.0,1,55,8.73,1.17,-13.60,0.000,18948,0.036,1.239,1752,1522,3170,3170,4095,0,0,0,0,0,0,25.88,23.95,25.91,10.26,51.85
$GC,217,-1.82,-585.0,1752,1522,3175,4095,24.6,-16.4,27,226,0.00,1.02,0.00,0.000,1030,0.000,0.026,1752,1954,3175,3175,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.55,51.57
$GC,266,-1.82,-585.0,1752,1954,3176,4095,31.6,-14.8,33,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3175,3175,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.53,50.90
$GC,314,-1.82,-585.0,1752,1954,3177,4095,38.7,-14.7,39,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3178,3178,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.51,50.90
$GC,361,-1.82,-585.0,1752,1954,3179,4095,45.2,-13.9,45,369,0.00,1.10,0.00,0.000,260,0.000,0.047,1752,2375,3179,3179,4094,0,0,0,0,0,0,26.50,26.01,26.51,10.50,49.72
$GC,434,-1.82,-585.0,1752,2374,3181,4094,56.3,-14.7,55,444,0.00,1.05,0.00,0.000,1030,0.000,0.027,1752,1956,3181,3181,4095,0,0,0,0,0,0,26.26,26.19,26.25,10.47,48.70
$GC,485,-1.82,-585.0,1753,1955,3181,4095,59.4,-1.1,61,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1956,3181,3181,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.46,48.54
$GC,535,-1.82,-585.0,1752,1955,3181,4094,59.4,-0.1,67,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1955,3180,3180,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.46,48.03
$GC,585,-1.82,-585.0,1752,1956,3181,4095,59.4,0.0,73,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1956,3181,3181,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.45,47.75
$GC,634,-1.82,-585.0,1752,1955,3181,4095,59.4,-1.2,79,643,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1956,3181,3181,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.44,47.83
$GC,684,-1.82,-585.0,1752,1955,3181,4095,59.4,-0.0,85,693,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1955,3181,3181,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.45,47.79
$GC,734,-1.82,-585.0,1752,1954,3181,4095,59.6,-0.4,91,743,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1954,3181,3181,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.44,48.22
$GC,783,-1.82,-585.0,1752,1954,3181,4095,59.5,0.0,97,792,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3181,3181,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.43,48.03
$GC,833,-1.82,-585.0,1752,1954,3181,4094,59.4,0.0,103,842,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3181,3181,4095,0,0,0,0,0,0,26.68,26.70,26.70,10.43,48.11
$GC,883,-1.82,-585.0,1752,1954,3181,4095,59.4,0.2,109,891,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1954,3181,3181,4095,0,0,0,0,0,0,26.70,26.71,26.70,10.43,48.22
$GC,932,-1.82,-585.0,1752,1954,3181,4095,59.4,0.3,115,941,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3181,3181,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.43,49.33
$STATE,969,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,969,begin apogee
$GC,981,-0.45,0.0,1752,2153,3181,4094,59.4,-0.3,120,1025,4.57,0.00,33.47,1.284,10244,0.043,0.000,2187,2153,2484,2484,4094,0,0,0,0,0,0,26.25,25.28,24.16,10.42,49.01
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1032,1.82,585.0,2186,2153,2484,4094,59.4,0.0,125,1076,7.65,0.00,33.33,1.250,11270,0.030,0.000,2905,2153,1802,1802,4094,0,0,0,0,0,0,25.63,25.82,23.73,10.28,48.54
$GC,1117,1.82,585.0,2904,2153,1801,4094,54.0,11.0,135,1127,0.00,1.20,0.00,0.000,516,0.000,0.044,2905,1710,1801,1801,4094,0,0,0,0,0,0,25.58,25.21,25.60,10.13,47.79
$GC,1257,1.82,585.0,2905,1710,1797,4094,37.6,12.3,155,1267,0.00,0.93,0.00,0.000,1030,0.000,0.029,2905,2091,1797,1797,4095,0,0,0,0,0,0,25.78,25.75,25.81,10.14,49.72
$GC,1307,1.82,585.0,2904,2090,1795,4095,31.5,12.5,161,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2091,1795,1795,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.14,49.44
$GC,1355,1.82,585.0,2905,2090,1794,4094,25.0,13.7,167,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2091,1794,1794,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.15,50.00
$GC,1403,1.82,585.0,2905,2090,1793,4094,18.8,12.1,173,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2090,1792,1792,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.17,50.98
$GC,1452,1.82,585.0,2904,2090,1791,4094,13.0,11.6,179,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2090,1790,1790,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.19,52.67
$GC,1500,1.82,585.0,2904,2090,1790,4094,7.5,11.2,185,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2091,1789,1789,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.20,52.75
$GC,1548,1.82,585.0,2905,2090,1788,4094,2.0,11.5,191,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2090,1787,1787,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.21,53.26
$STATE,1565,end climb,FINISH_DEPTH_REACHED
$STATE,1565,begin subsurface finish
$FINISH1,0.0,1.009076,0
$GC,1579,0.00,0.0,2905,2156,1787,4094,0.0,10.0,193,1597,5.60,0.00,-6.43,0.000,20486,0.020,0.000,2353,2163,2489,2489,4095,0,0,0,0,0,0,26.17,25.46,26.21,10.21,53.58
$FINISH2,0.1
$STATE,1598,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1598,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,041319
$TT8_MAMPS,0.025466,0.246421
$HUMID,53.30
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.73,64.140
$10V_AH,10.06,58.810
$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,35.000,7.025,66.800,0.000,0.000,33.731,28.158,355.523,0.000,0.000,19.514,533.078,0.000,155.892,1171.972,460.535,0.000,471.459,0.000,471.455,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,1239.300,1284.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,132.734,529.859,419.450,621.471,811.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,17934,195
$CAP_FILE_SIZE,39754,0
$CFSIZE,1024409600,911933440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,055919,6007.485,-17251.666,7,0.9,18,7.5,0.3,112.0,9,4.5