version: 66.13
glider: 401
mission: 22
dive: 2167
start: 9 2 117 20 51 27
data:
$ID,401
$MISSION,22
$DIVE,2167
$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,23
$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
$GPS1,020917,203705,6006.3784,-17258.0879,5,0.9,16,7.4,0.5,269.9,9,4.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-41.4
$GPS2,020917,205048,6006.4673,-17258.4023,14,0.8,17,7.4,0.5,289.1,10,4.7
$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,105.9,92799,-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,-585.0,238,1948,1786,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.093,0.000,712,1947,1786,1786,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.29,51.37
$GC,25,-1.82,-585.0,712,1947,1786,4094,0.7,0.0,1,55,11.12,1.15,-12.68,0.000,18948,0.041,1.237,1753,1523,3168,3168,4095,0,0,0,0,0,0,25.96,24.07,26.02,10.29,50.39
$GC,207,-1.82,-585.0,1752,1522,3172,4095,22.2,-17.8,30,214,0.00,1.02,0.00,0.000,1030,0.000,0.026,1753,1954,3172,3172,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.59,50.31
$GC,249,-1.82,-585.0,1752,1954,3174,4094,28.9,-15.8,36,255,0.00,1.10,0.00,0.000,260,0.000,0.044,1753,2376,3173,3173,4095,0,0,0,0,0,0,26.44,25.98,26.45,10.58,50.39
$GC,338,-1.82,-585.0,1753,2376,3175,4095,41.4,-13.9,50,345,0.00,0.98,0.00,0.000,1030,0.000,0.027,1753,1983,3175,3175,4094,0,0,0,0,0,0,26.21,26.19,26.24,10.54,49.64
$GC,380,-1.82,-585.0,1752,1983,3177,4094,47.6,-15.7,56,386,0.00,1.17,0.00,0.000,516,0.000,0.047,1753,1517,3177,3177,4095,0,0,0,0,0,0,26.53,26.05,26.54,10.53,50.00
$GC,445,-1.82,-585.0,1752,1516,3178,4095,57.5,-14.8,66,452,0.00,1.08,0.00,0.000,1030,0.000,0.024,1753,1986,3179,3179,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.52,48.62
$STATE,463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,476,-0.45,0.0,1753,2136,3179,4095,61.0,-14.4,69,518,4.45,0.00,33.22,1.295,10244,0.030,0.000,2188,2136,2484,2484,4095,0,0,0,0,0,0,26.22,25.19,24.08,10.51,48.38
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,524,1.82,585.0,2188,2136,2484,4095,61.8,0.0,76,571,7.57,0.00,33.22,1.248,11270,0.028,0.000,2901,2137,1801,1801,4094,0,0,0,0,0,0,25.53,25.70,23.73,10.36,47.55
$GC,606,1.82,585.0,2901,2136,1800,4094,55.0,12.6,89,613,0.00,1.15,0.00,0.000,516,0.000,0.042,2901,1710,1800,1800,4094,0,0,0,0,0,0,25.55,25.21,25.56,10.21,46.77
$GC,784,1.82,585.0,2901,1710,1795,4094,33.3,12.8,117,791,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2119,1794,1794,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.20,48.18
$GC,826,1.82,585.0,2900,2119,1794,4094,27.8,11.8,123,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1794,1794,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.20,48.50
$GC,867,1.82,585.0,2901,2119,1792,4094,23.1,11.4,129,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2119,1792,1792,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.22,49.25
$GC,908,1.88,629.6,2901,2119,1791,4094,19.1,10.0,135,915,0.17,0.00,3.70,0.420,10246,0.052,0.000,2929,2119,1749,1749,4094,0,0,0,0,0,0,26.09,25.46,24.47,10.23,50.11
$GC,950,1.88,629.6,2928,2119,1748,4094,14.7,10.6,141,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2119,1748,1748,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.23,50.19
$GC,991,1.88,629.6,2928,2119,1747,4094,10.0,11.3,147,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2120,1747,1747,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.24,50.82
$GC,1032,1.88,629.6,2928,2119,1745,4094,5.3,11.9,153,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2119,1745,1745,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.24,51.06
$STATE,1055,end climb,FINISH_DEPTH_REACHED
$STATE,1055,begin subsurface finish
$FINISH1,1.9,1.024144,101
$GC,1068,0.15,101.4,2929,2119,1744,4094,1.9,11.9,157,1082,5.68,0.00,-5.22,0.000,20998,0.040,0.000,2382,2120,2371,2371,4094,0,0,0,0,0,0,26.19,24.45,26.22,10.24,51.53
$FINISH2,0.2
$STATE,1083,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,020917,204311
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.89
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,23.73,63.478
$10V_AH,10.23,58.254
$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,34.600,8.975,70.150,0.000,0.000,78.614,71.004,284.474,0.000,0.000,19.087,413.871,342.208,146.177,628.788,379.762,0.000,320.760,0.000,241.552,0.000,0.545,0.000
$DEVICE_MAMPS,92.565,1237.005,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,10820,159
$CAP_FILE_SIZE,31232,0
$CFSIZE,1024409600,912998400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020917,205048,6006.467,-17258.402,14,0.8,17,7.4,0.5,289.1,10,4.7