version: 66.13
glider: 401
mission: 22
dive: 2214
start: 9 3 117 17 38 7
data:
$ID,401
$MISSION,22
$DIVE,2214
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,030917,164013,6006.1616,-17245.4844,6,0.7,14,7.5,0.0,230.5,12,4.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.8
$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,11,-1.78,-487.5,2389,1950,2369,4092,0.0,0.0,0,22,6.22,0.00,-2.15,0.000,20482,0.022,0.000,1774,1950,2598,2598,4094,0,0,0,0,0,0,26.19,28.83,26.25,10.35,55.19
$GC,28,-1.78,-487.5,1773,1950,2598,4094,0.0,0.0,1,38,0.00,1.23,-4.35,0.000,16900,0.000,1.265,1774,1525,3055,3055,4095,0,0,0,0,0,0,26.50,24.15,26.51,10.39,55.04
$GC,225,-1.78,-487.5,1773,1525,3061,4095,24.5,-18.4,29,234,0.00,1.00,0.00,0.000,1030,0.000,0.028,1773,1946,3061,3061,4095,0,0,0,0,0,0,26.25,26.23,26.28,10.51,54.21
$GC,274,-1.78,-487.5,1773,1947,3062,4095,32.9,-16.2,35,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1947,3063,3063,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.49,53.78
$GC,322,-1.78,-487.5,1773,1946,3063,4095,40.3,-15.1,41,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1947,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.47,53.07
$GC,369,-1.78,-487.5,1773,1947,3065,4095,47.3,-14.4,47,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1947,3065,3065,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.45,52.36
$GC,417,-1.78,-487.5,1773,1947,3067,4095,54.2,-14.5,53,426,0.00,1.12,0.00,0.000,260,0.000,0.046,1773,2377,3066,3066,4094,0,0,0,0,0,0,26.63,26.13,26.64,10.44,51.65
$GC,629,-1.78,-487.5,1773,2377,3067,4094,59.6,-2.1,83,638,0.00,1.10,0.00,0.000,1030,0.000,0.029,1773,1932,3066,3066,4094,0,0,0,0,0,0,26.33,26.29,26.35,10.40,50.55
$GC,680,-1.78,-487.5,1773,1932,3067,4094,59.5,0.7,89,689,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1933,3067,3067,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.40,49.60
$GC,730,-1.78,-487.5,1773,1932,3067,4095,59.6,0.0,95,737,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1933,3067,3067,4094,0,0,0,0,0,0,26.72,26.73,26.73,10.39,50.27
$GC,779,-1.78,-487.5,1773,1932,3067,4094,59.7,0.2,101,788,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1933,3067,3067,4095,0,0,0,0,0,0,26.72,26.74,26.74,10.39,50.03
$GC,828,-1.78,-487.5,1773,1932,3067,4095,59.7,0.1,107,837,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1932,3067,3067,4095,0,0,0,0,0,0,26.74,26.75,26.74,10.39,49.25
$GC,879,-1.78,-487.5,1772,1932,3067,4095,59.8,-0.5,113,888,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1932,3067,3067,4095,0,0,0,0,0,0,26.74,26.76,26.76,10.39,49.33
$GC,929,-1.78,-487.5,1773,1932,3067,4095,59.6,0.1,119,938,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1932,3067,3067,4094,0,0,0,0,0,0,26.75,26.77,26.77,10.38,49.56
$STATE,973,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,973,begin apogee
$GC,986,-0.45,0.0,1773,2150,3067,4095,59.8,-4.3,125,1022,4.07,0.00,27.95,1.270,10244,0.028,0.000,2176,2150,2484,2484,4094,0,0,0,0,0,0,26.42,25.46,24.32,10.38,49.76
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1028,1.78,487.5,2176,2150,2484,4094,59.8,0.0,129,1073,7.50,0.00,27.70,1.239,11270,0.031,0.000,2893,2150,1919,1919,4094,0,0,0,0,0,0,25.79,25.98,23.93,10.27,49.21
$GC,1114,1.78,487.5,2892,2150,1918,4094,54.0,11.1,139,1124,0.00,1.17,0.00,0.000,516,0.000,0.046,2893,1711,1918,1918,4095,0,0,0,0,0,0,25.75,25.35,25.76,10.14,48.62
$GC,1189,1.78,487.5,2893,1710,1916,4095,44.6,12.1,149,1199,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2125,1916,1916,4094,0,0,0,0,0,0,25.72,25.69,25.74,10.15,49.29
$GC,1238,1.78,487.5,2893,2125,1915,4094,38.8,11.7,155,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1915,1915,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.16,49.44
$GC,1286,1.78,487.5,2893,2125,1914,4094,33.1,12.1,161,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1913,1913,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.16,50.23
$GC,1334,1.78,487.5,2893,2125,1912,4095,27.3,12.0,167,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1912,1912,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.17,51.33
$GC,1382,1.78,487.5,2892,2125,1911,4094,22.0,10.7,173,1391,0.00,1.10,0.00,0.000,516,0.000,0.047,2893,1710,1911,1911,4094,0,0,0,0,0,0,26.32,25.85,26.33,10.19,51.57
$GC,1585,1.78,487.5,2892,1710,1906,4094,2.6,10.7,202,1595,0.00,1.00,0.00,0.000,1030,0.000,0.028,2893,2129,1905,1905,4093,0,0,0,0,0,0,26.22,26.15,26.20,10.23,54.09
$STATE,1604,end climb,SURFACE_DEPTH_REACHED
$STATE,1604,begin surface coast
$FINISH,0.0,1.009305
$STATE,1627,end surface coast,CONTROL_FINISHED_OK
$STATE,1627,begin surface
$SM_CCo,1734,0.00,0.000,0,0,1905,497.99
$SM_GC,0.88,27.42,0.47,0.00,0.018,0.057,0.000,231,1957,1905,-6.59,1.32,497.99,0,0,0,0,0,0,26.05,26.08,26.12
$IRIDIUM_FIX,5925.93,-17425.36,030917,145324
$TT8_MAMPS,0.025466,0.253911
$HUMID,53.74
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.93,64.923
$10V_AH,10.11,59.489
$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,45.225,10.225,55.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,562.781,59.712,147.921,863.260,170.201,0.000,429.251,0.000,497.191,0.000,0.543,0.000
$DEVICE_MAMPS,30.600,1265.310,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,142.008,562.416,445.376,659.968,862.122,0.000,0.000,0.000,0.000,0.000
$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,21171,207
$CAP_FILE_SIZE,33514,0
$CFSIZE,1024409600,910655488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,180808,6006.001,-17244.840,8,0.9,21,7.5,0.3,103.1,10,4.9