version: 66.13
glider: 401
mission: 22
dive: 2215
start: 9 3 117 18 21 15
data:
$ID,401
$MISSION,22
$DIVE,2215
$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,19
$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
$GPS1,030917,180808,6006.0015,-17244.8398,8,0.9,21,7.5,0.3,103.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-43.0
$GPS2,030917,182033,6005.9722,-17245.0293,8,0.9,25,7.5,0.4,132.3,9,3.9
$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,117.1,39484,-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,12,-1.78,-487.5,230,1956,1904,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.088,0.000,712,1950,1904,1904,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.29,51.49
$GC,25,-1.78,-487.5,711,1951,1904,4094,0.6,0.0,1,56,11.62,1.20,-10.75,0.000,18948,0.061,1.238,1766,1520,3058,3058,4095,0,0,0,0,0,0,25.94,23.92,25.96,10.30,51.33
$GC,274,-1.78,-487.5,1765,1520,3064,4095,35.2,-16.2,41,281,0.00,1.02,0.00,0.000,1030,0.000,0.025,1766,1958,3064,3064,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.51,50.43
$GC,316,-1.78,-487.5,1765,1958,3066,4094,41.6,-14.8,47,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1958,3066,3066,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.50,50.00
$GC,357,-1.78,-487.5,1765,1958,3066,4095,47.6,-14.1,53,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1957,3067,3067,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.48,49.52
$GC,398,-1.78,-487.5,1765,1958,3068,4094,53.6,-14.1,59,404,0.00,1.08,0.00,0.000,260,0.000,0.044,1766,2371,3067,3067,4095,0,0,0,0,0,0,26.50,26.02,26.51,10.47,48.97
$GC,641,-1.78,-487.5,1765,2373,3069,4095,59.6,0.2,98,647,0.00,1.10,0.00,0.000,1030,0.000,0.034,1766,1943,3068,3068,4095,0,0,0,0,0,0,26.21,26.17,26.25,10.42,48.58
$GC,683,-1.78,-487.5,1765,1942,3068,4095,59.7,-0.2,104,690,0.00,1.12,0.00,0.000,260,0.000,0.037,1766,2371,3069,3069,4095,0,0,0,0,0,0,26.63,26.15,26.65,10.42,48.30
$GC,926,-1.78,-487.5,1765,2372,3068,4095,59.6,-0.1,143,933,0.00,1.10,0.00,0.000,1030,0.000,0.034,1766,1936,3069,3069,4094,0,0,0,0,0,0,26.29,26.25,26.34,10.39,50.11
$GC,968,-1.78,-487.5,1765,1936,3069,4094,59.7,-0.2,149,975,0.00,1.15,0.00,0.000,260,0.000,0.039,1766,2373,3069,3069,4094,0,0,0,0,0,0,26.72,26.21,26.72,10.39,49.64
$STATE,980,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,980,begin apogee
$GC,993,-0.45,0.0,1766,2130,3068,4095,59.6,0.0,151,1029,4.32,0.00,28.33,1.271,10244,0.033,0.000,2188,2130,2484,2484,4095,0,0,0,0,0,0,26.32,25.40,24.27,10.39,50.27
$STATE,1030,end apogee,CONTROL_FINISHED_OK
$STATE,1030,begin climb
$GC,1036,1.78,487.5,2188,2130,2484,4095,59.5,0.0,157,1078,7.32,1.08,27.90,1.239,10756,0.031,0.044,2892,1708,1915,1915,4094,0,0,0,0,0,0,25.65,25.60,23.85,10.27,49.56
$GC,1314,1.78,487.5,2891,1707,1909,4094,30.4,12.3,202,1321,0.00,1.02,0.00,0.000,1030,0.000,0.028,2891,2127,1909,1909,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.17,50.82
$GC,1356,1.78,487.5,2891,2127,1908,4094,25.5,12.2,208,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,51.73
$GC,1397,1.86,542.0,2891,2127,1907,4094,21.3,9.7,214,1411,0.20,1.08,4.43,0.522,10756,0.054,0.044,2920,1713,1851,1851,4094,0,0,0,0,0,0,26.06,25.58,24.47,10.20,52.83
$STATE,1564,end climb,FINISH_DEPTH_REACHED
$STATE,1564,begin subsurface finish
$FINISH1,1.7,1.024102,104
$GC,1579,0.16,104.4,2920,2153,1846,4094,1.7,12.0,241,1593,5.35,1.15,-4.68,0.000,20740,0.022,1.241,2391,2555,2367,2367,4094,0,0,0,0,0,0,26.15,24.05,26.20,10.22,54.17
$FINISH2,0.1
$STATE,1594,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1595,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,163244
$TT8_MAMPS,0.025466,0.161035
$HUMID,55.15
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.85,64.969
$10V_AH,10.21,59.513
$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,34.450,13.800,60.650,0.000,0.000,22.193,28.982,374.954,0.000,0.000,30.961,612.672,443.705,135.827,720.915,431.008,0.000,357.146,0.000,360.484,0.000,0.543,0.000
$DEVICE_MAMPS,87.975,1240.830,1270.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,164.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329284
$DATA_FILE_SIZE,17760,243
$CAP_FILE_SIZE,35118,0
$CFSIZE,1024409600,910606336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,182033,6005.972,-17245.029,8,0.9,25,7.5,0.4,132.3,9,3.9