version: 66.13
glider: 401
mission: 22
dive: 2212
start: 9 3 117 16 40 55
data:
$ID,401
$MISSION,22
$DIVE,2212
$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,48
$R_STBD_OVSHOOT,58
$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
$GPS1,030917,162805,6006.1709,-17245.4297,36,0.7,40,7.5,0.3,300.2,11,4.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-39.9
$GPS2,030917,164013,6006.1616,-17245.4844,6,0.7,14,7.5,0.0,230.5,12,4.9
$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,117.1,40032,-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,-487.5,240,1993,1859,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.083,0.000,964,1993,1859,1859,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.29,51.92
$GC,28,-1.78,-487.5,963,1993,1859,4094,0.7,0.0,1,56,8.55,1.25,-11.15,0.000,18948,0.040,1.235,1765,1545,3055,3055,4095,0,0,0,0,0,0,25.90,24.06,25.97,10.28,52.08
$GC,315,-1.78,-487.5,1764,1545,3062,4095,39.5,-15.5,42,324,0.00,0.88,0.00,0.000,1030,0.000,0.026,1764,1928,3064,3064,4094,0,0,0,0,0,0,26.18,26.16,26.20,10.51,50.55
$GC,364,-1.78,-487.5,1764,1928,3064,4094,46.5,-14.0,48,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1928,3064,3064,4094,0,0,0,0,0,0,26.49,26.50,26.51,10.48,49.92
$GC,412,-1.78,-487.5,1764,1928,3065,4094,53.5,-14.1,54,421,0.00,1.15,0.00,0.000,260,0.000,0.043,1764,2370,3066,3066,4094,0,0,0,0,0,0,26.52,26.03,26.53,10.47,49.05
$GC,566,-1.78,-487.5,1764,2371,3066,4094,59.6,-0.3,76,575,0.00,0.98,0.00,0.000,1030,0.000,0.042,1764,1992,3066,3066,4094,0,0,0,0,0,0,26.17,26.13,26.21,10.43,47.83
$GC,615,-1.78,-487.5,1764,1992,3066,4094,59.9,-5.6,82,622,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1992,3067,3067,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.43,48.14
$GC,662,-1.78,-487.5,1764,1992,3066,4094,59.8,-0.4,88,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1992,3066,3066,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.42,47.95
$GC,710,-1.78,-487.5,1764,1992,3066,4095,59.8,-0.4,94,718,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1992,3066,3066,4095,0,0,0,0,0,0,26.65,26.65,26.66,10.42,47.83
$GC,758,-1.78,-487.5,1764,1992,3066,4095,59.8,-0.5,100,767,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1992,3065,3065,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.41,48.03
$GC,806,-1.78,-487.5,1764,1992,3066,4094,59.8,0.2,106,814,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1992,3066,3066,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.41,48.03
$GC,854,-1.78,-487.5,1764,1992,3067,4094,59.5,-0.3,112,861,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1992,3066,3066,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.40,48.34
$GC,901,-1.78,-487.5,1764,1992,3066,4094,59.6,0.1,118,909,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1992,3066,3066,4095,0,0,0,0,0,0,26.70,26.72,26.71,10.40,48.58
$GC,948,-1.78,-487.5,1764,1991,3066,4095,59.7,0.0,124,957,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1992,3066,3066,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.40,49.05
$STATE,971,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,971,begin apogee
$GC,984,-0.45,0.0,1764,2162,3066,4095,59.7,-0.1,127,1019,4.43,0.00,28.15,1.266,10244,0.040,0.000,2187,2162,2484,2484,4094,0,0,0,0,0,0,26.27,25.41,24.27,10.39,48.34
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1026,1.78,487.5,2187,2162,2484,4094,59.7,0.0,131,1070,7.53,0.00,27.67,1.232,11270,0.035,0.000,2891,2162,1921,1921,4094,0,0,0,0,0,0,25.70,25.94,23.87,10.28,49.05
$GC,1111,1.78,487.5,2890,2162,1921,4094,53.9,10.7,141,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2162,1920,1920,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.16,47.63
$GC,1160,1.78,487.5,2890,2162,1919,4094,47.8,12.5,147,1170,0.00,1.20,0.00,0.000,516,0.000,0.044,2891,1707,1919,1919,4094,0,0,0,0,0,0,25.93,25.50,25.94,10.15,48.34
$GC,1235,1.78,487.5,2890,1707,1917,4094,38.3,12.0,157,1245,0.00,0.95,0.00,0.000,1030,0.000,0.028,2891,2098,1917,1917,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.16,49.17
$GC,1285,1.78,487.5,2890,2097,1915,4094,32.2,12.4,163,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2098,1915,1915,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.17,49.37
$GC,1333,1.78,487.5,2890,2098,1914,4094,26.0,12.5,169,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2098,1914,1914,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.19,50.90
$GC,1382,1.79,495.8,2890,2097,1913,4094,20.8,10.4,175,1392,0.00,1.02,0.82,0.003,8708,0.000,0.044,2891,1705,1913,1913,4094,0,0,0,0,0,0,26.33,25.85,26.32,10.21,51.37
$GC,1529,1.84,529.3,2890,1705,1908,4094,6.0,10.0,195,1541,0.10,1.02,3.78,0.365,11270,0.057,0.028,2906,2129,1865,1865,4095,0,0,0,0,0,0,26.02,26.09,24.61,10.24,53.54
$STATE,1555,end climb,FINISH_DEPTH_REACHED
$STATE,1555,begin subsurface finish
$FINISH1,1.8,1.024102,104
$GC,1568,0.16,104.4,2905,2132,1864,4094,1.8,11.4,198,1587,5.20,0.00,-4.50,0.000,20486,0.024,0.000,2392,2138,2363,2363,4094,0,0,0,0,0,0,26.15,25.46,26.20,10.23,53.66
$FINISH2,0.1
$STATE,1588,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1588,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,145324
$TT8_MAMPS,0.025466,0.273385
$HUMID,53.42
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,6.00
$XPDR_PINGS,1
$24V_AH,23.87,64.881
$10V_AH,10.06,59.428
$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,34.275,8.775,60.425,0.000,0.000,24.032,17.025,389.338,0.250,0.000,15.780,536.232,0.000,136.260,1199.865,450.736,0.000,430.377,0.000,483.290,0.000,0.543,0.000
$DEVICE_MAMPS,83.385,1235.475,1266.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,136.750,543.479,430.277,637.917,830.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,21238,200
$CAP_FILE_SIZE,38344,0
$CFSIZE,1024409600,910753792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,164013,6006.162,-17245.484,6,0.7,14,7.5,0.0,230.5,12,4.9