version: 66.13
glider: 401
mission: 22
dive: 2216
start: 9 3 117 18 49 56
data:
$ID,401
$MISSION,22
$DIVE,2216
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,030917,182033,6005.9722,-17245.0293,8,0.9,25,7.5,0.4,132.3,9,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-3.9
$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,11,-1.78,-487.5,2391,1947,2366,4092,0.0,0.0,0,22,6.28,0.00,-1.25,0.000,20482,0.021,0.000,1770,1947,2501,2501,4095,0,0,0,0,0,0,26.22,28.83,26.27,10.35,55.11
$GC,28,-1.78,-487.5,1770,1947,2501,4095,0.0,0.0,1,38,0.00,1.20,-5.25,0.000,16900,0.000,1.254,1770,1521,3056,3056,4095,0,0,0,0,0,0,26.50,24.13,26.50,10.38,54.60
$GC,252,-1.78,-487.5,1769,1521,3062,4095,32.0,-15.8,33,261,0.00,0.98,0.00,0.000,1030,0.000,0.028,1770,1941,3062,3062,4095,0,0,0,0,0,0,26.27,26.24,26.28,10.49,53.62
$GC,301,-1.78,-487.5,1769,1941,3064,4095,39.6,-15.6,39,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1941,3064,3064,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.47,53.22
$GC,349,-1.78,-487.5,1769,1941,3065,4095,46.7,-14.7,45,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1941,3065,3065,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.46,52.71
$GC,397,-1.78,-487.5,1769,1941,3066,4094,53.9,-14.7,51,406,0.00,1.12,0.00,0.000,260,0.000,0.045,1770,2371,3066,3066,4094,0,0,0,0,0,0,26.62,26.11,26.63,10.44,51.81
$GC,666,-1.78,-487.5,1769,2375,3067,4094,59.5,0.3,90,675,0.00,1.02,0.00,0.000,1030,0.000,0.036,1770,1970,3067,3067,4095,0,0,0,0,0,0,26.29,26.26,26.33,10.40,50.66
$GC,715,-1.78,-487.5,1769,1970,3067,4095,59.6,0.2,96,725,0.00,1.02,0.00,0.000,260,0.000,0.028,1770,2376,3067,3067,4094,0,0,0,0,0,0,26.72,26.36,26.72,10.39,50.03
$STATE,975,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,975,begin apogee
$GC,987,-0.45,0.0,1770,2123,3067,4094,59.6,0.2,134,1023,4.30,0.00,28.25,1.268,10244,0.038,0.000,2187,2123,2484,2484,4094,0,0,0,0,0,0,26.33,25.46,24.32,10.38,51.06
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1025,begin climb
$GC,1031,1.78,487.5,2186,2123,2484,4094,59.8,0.0,138,1075,7.45,1.02,27.77,1.239,10756,0.034,0.045,2892,1718,1916,1916,4094,0,0,0,0,0,0,25.68,25.65,23.89,10.26,50.35
$GC,1335,1.78,487.5,2891,1718,1909,4094,28.6,11.2,181,1344,0.00,1.00,0.00,0.000,1030,0.000,0.028,2892,2130,1909,1909,4094,0,0,0,0,0,0,25.96,25.91,25.98,10.17,51.73
$GC,1386,1.90,567.8,2891,2130,1908,4094,24.0,9.3,187,1396,0.30,1.10,5.78,0.633,10756,0.042,0.045,2931,1714,1821,1821,4095,0,0,0,0,0,0,26.04,25.60,24.52,10.19,52.48
$STATE,1572,end climb,FINISH_DEPTH_REACHED
$STATE,1572,begin subsurface finish
$FINISH1,2.0,1.024107,104
$GC,1587,0.16,104.0,2931,2137,1815,4094,2.0,11.6,214,1605,5.45,1.23,-5.00,0.000,20996,0.018,1.255,2389,1722,2364,2364,4094,0,0,0,0,0,0,26.16,24.20,26.20,10.21,54.44
$FINISH2,0.0
$STATE,1606,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1606,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,163244
$TT8_MAMPS,0.025466,0.242676
$HUMID,55.00
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.89,64.991
$10V_AH,10.09,59.559
$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,23.775,13.000,61.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,562.734,0.109,90.217,899.116,116.999,0.000,328.268,0.000,517.456,0.000,0.542,0.000
$DEVICE_MAMPS,42.075,1254.600,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,149.487,586.873,464.544,689.375,899.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,21262,216
$CAP_FILE_SIZE,25741,0
$CFSIZE,1024409600,910573568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,182033,6005.972,-17245.029,8,0.9,25,7.5,0.4,132.3,9,3.9