version: 66.13
glider: 401
mission: 22
dive: 2187
start: 9 3 117 5 18 35
data:
$ID,401
$MISSION,22
$DIVE,2187
$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,33
$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,0.04
$_SM_ANGLEo,-3.2
$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,-585.0,2391,1937,2368,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,4097,0.024,0.000,1847,1938,2368,2368,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.34,54.01
$GC,24,-1.82,-585.0,1846,1937,2368,4094,0.0,0.0,1,38,0.65,1.15,-7.65,0.000,20996,0.027,1.252,1771,1529,3172,3172,4094,0,0,0,0,0,0,26.17,24.15,26.20,10.35,54.17
$GC,202,-1.82,-585.0,1770,1529,3177,4094,24.7,-16.9,29,209,0.00,1.00,0.00,0.000,1030,0.000,0.027,1771,1955,3177,3177,4094,0,0,0,0,0,0,26.22,26.20,26.24,10.51,53.78
$GC,244,-1.82,-585.0,1770,1955,3178,4094,30.7,-14.1,35,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1956,3178,3178,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.49,53.89
$GC,284,-1.82,-585.0,1770,1955,3179,4095,36.5,-14.4,41,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1956,3179,3179,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.48,52.48
$GC,325,-1.82,-585.0,1770,1955,3180,4095,42.2,-14.4,47,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1955,3180,3180,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.47,52.00
$GC,366,-1.82,-585.0,1770,1956,3180,4095,48.0,-14.6,53,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1956,3181,3181,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.46,52.28
$GC,407,-1.82,-585.0,1770,1955,3183,4095,54.2,-14.8,59,413,0.00,1.08,0.00,0.000,260,0.000,0.049,1770,2365,3183,3183,4094,0,0,0,0,0,0,26.60,26.10,26.62,10.45,51.53
$GC,650,-1.82,-585.0,1769,2364,3183,4094,59.6,0.1,98,657,0.00,1.00,0.00,0.000,1030,0.000,0.035,1770,1971,3183,3183,4095,0,0,0,0,0,0,26.29,26.25,26.33,10.42,50.66
$GC,692,-1.82,-585.0,1770,1964,3183,4095,59.5,0.3,104,699,0.00,1.08,0.00,0.000,260,0.000,0.054,1770,2365,3184,3184,4095,0,0,0,0,0,0,26.70,26.14,26.71,10.42,50.94
$GC,935,-1.82,-585.0,1770,2366,3183,4095,59.5,0.4,143,942,0.00,0.98,0.00,0.000,1030,0.000,0.028,1770,1968,3183,3183,4095,0,0,0,0,0,0,26.43,26.41,26.46,10.40,51.10
$STATE,965,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,965,begin apogee
$GC,978,-0.45,0.0,1770,2152,3183,4094,59.6,0.4,148,1020,4.30,0.00,33.40,1.290,10244,0.035,0.000,2187,2152,2484,2484,4094,0,0,0,0,0,0,26.35,25.32,24.21,10.40,50.90
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1026,1.82,585.0,2187,2151,2484,4094,59.7,0.0,155,1073,7.68,0.00,33.20,1.254,11270,0.032,0.000,2903,2152,1801,1801,4094,0,0,0,0,0,0,25.63,25.84,23.77,10.26,50.94
$GC,1109,1.89,636.4,2903,2152,1800,4094,54.5,9.9,168,1117,0.17,0.00,4.57,0.731,10246,0.049,0.000,2929,2152,1742,1742,4094,0,0,0,0,0,0,25.37,24.94,23.82,10.12,50.00
$GC,1152,1.89,636.4,2929,2151,1741,4094,49.6,11.9,174,1158,0.00,1.17,0.00,0.000,516,0.000,0.044,2929,1714,1741,1741,4094,0,0,0,0,0,0,25.74,25.34,25.75,10.10,50.27
$GC,1253,1.89,636.4,2929,1714,1738,4094,37.3,12.0,190,1260,0.00,0.98,0.00,0.000,1030,0.000,0.029,2929,2111,1738,1738,4094,0,0,0,0,0,0,25.77,25.73,25.79,10.10,50.82
$GC,1295,1.89,636.4,2929,2111,1736,4094,31.8,13.4,196,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2111,1736,1736,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,50.94
$GC,1336,1.89,636.4,2929,2111,1736,4094,26.5,12.7,202,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2111,1735,1735,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.11,51.18
$GC,1377,1.89,636.4,2929,2111,1734,4094,21.0,12.9,208,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2111,1734,1734,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.12,52.40
$GC,1418,1.89,636.4,2929,2111,1733,4094,16.1,12.0,214,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2111,1733,1733,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.15,52.75
$GC,1459,1.89,636.4,2929,2110,1732,4094,11.3,11.5,220,1465,0.00,1.05,0.00,0.000,516,0.000,0.047,2929,1713,1732,1732,4094,0,0,0,0,0,0,26.34,25.88,26.36,10.16,53.34
$GC,1536,1.89,636.4,2929,1713,1729,4094,2.3,11.8,232,1543,0.00,0.98,0.00,0.000,1030,0.000,0.028,2929,2118,1729,1729,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.18,54.09
$STATE,1548,end climb,SURFACE_DEPTH_REACHED
$STATE,1548,begin surface coast
$FINISH,0.0,1.024138
$STATE,1562,end surface coast,CONTROL_FINISHED_OK
$STATE,1562,begin surface
$SM_CCo,1670,0.00,0.000,0,0,1729,649.96
$SM_GC,0.88,28.20,0.45,0.00,0.019,0.043,0.000,231,1943,1729,-6.59,1.05,649.96,0,0,0,0,0,0,25.85,26.10,25.97
$IRIDIUM_FIX,5925.93,-17425.36,030917,023820
$TT8_MAMPS,0.025466,0.103362
$HUMID,55.27
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.77,64.091
$10V_AH,10.34,58.757
$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,46.575,11.850,71.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,600.557,472.897,171.990,342.028,153.972,0.000,396.173,0.000,348.806,0.000,0.541,0.000
$DEVICE_MAMPS,48.960,1251.540,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,159.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330536
$DATA_FILE_SIZE,17744,236
$CAP_FILE_SIZE,34889,0
$CFSIZE,1024409600,911982592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,054725,6007.559,-17251.742,4,0.8,15,7.5,0.3,215.4,10,4.9