version: 66.13
glider: 401
mission: 22
dive: 2211
start: 9 3 117 15 58 38
data:
$ID,401
$MISSION,22
$DIVE,2211
$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,0.07
$_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,-487.5,2389,1953,2361,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.021,0.000,1839,1953,2361,2361,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.35,54.17
$GC,25,-1.78,-487.5,1839,1951,2361,4094,0.0,0.0,1,38,0.45,1.23,-6.53,0.000,20740,0.036,1.232,1787,2375,3059,3059,4095,0,0,0,0,0,0,26.16,24.18,26.19,10.36,53.81
$GC,98,-1.78,-487.5,1787,2375,3059,4095,1.0,-3.7,12,104,0.00,1.08,0.00,0.000,1030,0.000,0.032,1787,1949,3059,3059,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.51,53.85
$GC,139,-1.78,-487.5,1787,1949,3060,4094,6.7,-15.0,18,146,0.00,1.15,0.00,0.000,260,0.000,0.044,1787,2375,3061,3061,4094,0,0,0,0,0,0,26.46,25.98,26.47,10.50,53.66
$GC,382,-1.78,-487.5,1787,2375,3067,4094,43.6,-13.1,57,389,0.00,1.08,0.00,0.000,1030,0.000,0.031,1787,1943,3068,3068,4095,0,0,0,0,0,0,26.24,26.20,26.27,10.46,52.20
$GC,424,-1.78,-487.5,1786,1942,3068,4095,48.8,-12.3,63,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1943,3068,3068,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.45,51.73
$GC,465,-1.78,-487.5,1786,1943,3069,4095,54.3,-13.6,69,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1943,3070,3070,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.43,51.57
$GC,506,-1.78,-487.5,1786,1942,3070,4095,59.2,-11.7,75,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1943,3070,3070,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.43,50.31
$GC,547,-1.78,-487.5,1787,1943,3070,4095,59.4,-0.1,81,553,0.00,1.15,0.00,0.000,260,0.000,0.049,1787,2369,3070,3070,4094,0,0,0,0,0,0,26.65,26.14,26.66,10.43,50.35
$GC,790,-1.78,-487.5,1786,2374,3070,4094,59.4,-0.1,120,796,0.00,1.02,0.00,0.000,1030,0.000,0.027,1787,1941,3070,3070,4094,0,0,0,0,0,0,26.43,26.40,26.46,10.40,50.63
$GC,833,-1.78,-487.5,1787,1938,3070,4094,59.5,0.4,126,839,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1938,3071,3071,4095,0,0,0,0,0,0,26.73,26.74,26.74,10.39,50.15
$GC,875,-1.78,-487.5,1786,1938,3070,4095,59.4,0.3,132,881,0.00,1.15,0.00,0.000,260,0.000,0.049,1787,2369,3070,3070,4095,0,0,0,0,0,0,26.74,26.20,26.75,10.38,50.35
$STATE,965,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,965,begin apogee
$GC,978,-0.45,0.0,1787,2130,3070,4094,59.4,0.0,147,1013,4.20,0.00,28.33,1.265,10244,0.043,0.000,2186,2128,2484,2484,4094,0,0,0,0,0,0,26.30,25.45,24.32,10.38,51.33
$STATE,1014,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1020,1.78,487.5,2186,2128,2484,4094,59.6,0.0,153,1062,7.47,0.00,27.83,1.234,11270,0.034,0.000,2890,2128,1914,1914,4094,0,0,0,0,0,0,25.74,25.97,23.91,10.26,50.19
$GC,1097,1.78,487.5,2889,2127,1914,4094,54.4,11.0,165,1104,0.00,1.05,0.00,0.000,516,0.000,0.046,2889,1735,1914,1914,4094,0,0,0,0,0,0,25.71,25.34,25.72,10.14,49.76
$GC,1229,1.78,487.5,2889,1734,1911,4094,38.4,11.5,186,1235,0.00,0.95,0.00,0.000,1030,0.000,0.029,2890,2124,1910,1910,4094,0,0,0,0,0,0,25.84,25.79,25.85,10.14,50.70
$GC,1270,1.78,487.5,2889,2123,1909,4094,33.6,11.5,192,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2123,1909,1909,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.15,50.98
$GC,1311,1.78,487.5,2889,2124,1908,4094,29.0,11.2,198,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2123,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,51.53
$GC,1352,1.78,487.5,2889,2123,1907,4094,24.3,11.4,204,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2124,1905,1905,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.17,52.55
$GC,1393,1.84,530.0,2889,2123,1906,4095,20.2,9.9,210,1402,0.15,1.02,3.75,0.441,10756,0.063,0.044,2911,1734,1865,1865,4094,0,0,0,0,0,0,26.10,25.58,24.46,10.19,52.75
$STATE,1554,end climb,SURFACE_DEPTH_REACHED
$STATE,1555,begin surface coast
$FINISH,-0.0,1.001763
$STATE,1573,end surface coast,CONTROL_FINISHED_OK
$STATE,1574,begin surface
$SM_CCo,1682,0.00,0.000,0,0,1859,536.62
$SM_GC,0.95,27.77,0.52,0.00,0.019,0.036,0.000,239,1983,1859,-6.55,-1.28,536.62,0,0,0,0,0,0,26.20,26.19,26.25
$IRIDIUM_FIX,5925.93,-17425.36,030917,145151
$TT8_MAMPS,0.025466,0.108605
$HUMID,54.68
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.91,64.835
$10V_AH,10.36,59.374
$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,45.650,12.450,59.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,611.611,490.915,156.566,346.186,146.241,0.000,375.342,0.000,353.043,0.000,0.542,0.000
$DEVICE_MAMPS,63.495,1231.650,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,161.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,17800,239
$CAP_FILE_SIZE,33693,0
$CFSIZE,1024409600,910802944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,162805,6006.171,-17245.430,36,0.7,40,7.5,0.3,300.2,11,4.8