version: 66.13
glider: 401
mission: 22
dive: 2172
start: 9 2 117 22 40 41
data:
$ID,401
$MISSION,22
$DIVE,2172
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,020917,220048,6006.8384,-17258.6504,7,1.1,52,7.4,0.4,353.5,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-3.3
$GPS2,020917,220048,6006.8384,-17258.6504,7,1.1,52,7.4,0.4,353.5,9,3.0
$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,106.3,93285,-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,-585.0,2389,1955,2368,4092,0.0,0.0,0,29,6.43,0.00,-7.55,0.000,20486,0.024,0.000,1757,1956,3170,3170,4095,0,0,0,0,0,0,26.25,24.39,26.29,10.38,52.79
$GC,35,-1.82,-585.0,1757,1955,3170,4095,-0.0,-0.0,2,44,0.00,1.12,0.00,0.000,516,0.000,0.060,1757,1523,3170,3170,4094,0,0,0,0,0,0,26.47,26.03,26.48,10.56,52.91
$GC,181,-1.82,-585.0,1756,1522,3174,4094,20.4,-18.2,23,190,0.00,1.02,0.00,0.000,1030,0.000,0.024,1757,1956,3174,3174,4095,0,0,0,0,0,0,26.29,26.27,26.31,10.56,52.00
$GC,230,-1.82,-585.0,1757,1955,3175,4095,28.7,-16.9,29,239,0.00,1.10,0.00,0.000,260,0.000,0.046,1757,2378,3176,3176,4095,0,0,0,0,0,0,26.59,26.13,26.60,10.55,52.59
$GC,311,-1.82,-585.0,1756,2378,3178,4095,41.6,-15.5,40,321,0.00,1.00,0.00,0.000,1030,0.000,0.029,1757,1975,3178,3178,4095,0,0,0,0,0,0,26.31,26.27,26.33,10.52,51.02
$GC,360,-1.82,-585.0,1757,1975,3179,4095,48.6,-13.1,46,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1975,3179,3179,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.51,50.59
$GC,407,-1.82,-585.0,1756,1975,3181,4095,55.3,-15.0,52,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1975,3180,3180,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.50,50.00
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,448,-0.45,0.0,1756,2158,3181,4095,60.4,-14.7,56,491,4.43,0.00,33.45,1.289,10244,0.031,0.000,2189,2158,2484,2484,4094,0,0,0,0,0,0,26.32,25.27,24.16,10.49,49.40
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,498,1.82,585.0,2189,2158,2484,4094,62.0,0.0,61,543,7.57,0.00,33.17,1.249,11270,0.026,0.000,2904,2158,1802,1802,4094,0,0,0,0,0,0,25.60,25.78,23.77,10.34,48.50
$GC,584,1.82,585.0,2904,2158,1801,4094,54.9,12.1,71,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2158,1801,1801,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.19,47.16
$GC,633,1.82,585.0,2904,2158,1800,4094,48.8,12.6,77,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2158,1799,1799,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.18,47.20
$GC,683,1.82,585.0,2903,2158,1798,4094,42.3,13.3,83,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2158,1798,1798,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.18,48.03
$GC,732,1.82,585.0,2904,2158,1796,4094,36.1,12.6,89,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2158,1796,1796,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.19,48.14
$GC,782,1.82,585.0,2904,2158,1796,4094,29.8,12.3,95,792,0.00,1.17,0.00,0.000,516,0.000,0.042,2904,1711,1795,1795,4094,0,0,0,0,0,0,26.20,25.79,26.22,10.20,48.42
$GC,844,1.85,609.4,2903,1710,1794,4094,22.8,10.2,103,853,0.00,0.98,2.75,0.265,9222,0.000,0.028,2904,2116,1773,1773,4094,0,0,0,0,0,0,26.01,25.98,24.33,10.22,49.68
$GC,894,1.85,609.4,2904,2115,1772,4094,17.7,10.7,109,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2116,1772,1772,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.22,50.74
$GC,943,1.85,609.4,2904,2116,1771,4094,12.4,10.9,115,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2116,1770,1770,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.23,50.74
$GC,992,1.85,609.4,2904,2115,1769,4094,6.9,11.2,121,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2116,1769,1769,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.24,51.14
$STATE,1035,end climb,SURFACE_DEPTH_REACHED
$STATE,1036,begin surface coast
$FINISH,-0.0,1.005639
$STATE,1059,end surface coast,CONTROL_FINISHED_OK
$STATE,1059,begin surface
$SM_CCo,1166,0.00,0.000,0,0,1767,616.47
$SM_GC,0.76,27.73,0.43,0.00,0.018,0.044,0.000,230,1950,1767,-6.59,1.37,616.47,0,0,0,0,0,0,25.94,26.15,26.06
$IRIDIUM_FIX,5925.93,-17425.36,020917,204445
$TT8_MAMPS,0.025466,0.241178
$HUMID,51.49
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.77,63.622
$10V_AH,10.13,58.372
$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,46.150,7.675,69.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.731,60.893,136.824,538.227,124.028,0.000,349.584,0.000,318.990,0.000,0.542,0.000
$DEVICE_MAMPS,31.365,59.670,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.079,353.221,279.556,413.919,535.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14490,130
$CAP_FILE_SIZE,25485,0
$CFSIZE,1024409600,912752640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,230107,6007.229,-17258.465,5,0.8,15,7.4,0.3,76.9,11,4.9