version: 66.13
glider: 401
mission: 22
dive: 2189
start: 9 3 117 6 28 51
data:
$ID,401
$MISSION,22
$DIVE,2189
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,030917,055919,6007.4849,-17251.6660,7,0.9,18,7.5,0.3,112.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.0
$GPS2,030917,055919,6007.4849,-17251.6660,7,0.9,18,7.5,0.3,112.0,9,4.5
$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,108.6,87880,-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,-585.0,2353,1939,2489,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,4097,0.022,0.000,1805,1939,2489,2489,4095,0,0,0,0,0,0,26.47,28.83,28.83,10.38,53.30
$GC,25,-1.82,-585.0,1805,1939,2489,4095,0.1,0.0,1,38,0.35,1.10,-5.78,0.000,20996,0.036,1.246,1757,1525,3169,3169,4094,0,0,0,0,0,0,26.20,24.23,26.22,10.37,53.07
$GC,184,-1.82,-585.0,1756,1525,3174,4094,25.7,-17.9,26,190,0.00,0.98,0.00,0.000,1030,0.000,0.027,1757,1941,3174,3174,4094,0,0,0,0,0,0,26.20,26.16,26.20,10.52,52.87
$GC,225,-1.82,-585.0,1756,1941,3175,4094,32.2,-15.8,32,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1941,3175,3175,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.50,52.28
$GC,266,-1.82,-585.0,1756,1941,3176,4094,38.4,-14.9,38,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1941,3176,3176,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.49,51.96
$GC,307,-1.82,-585.0,1756,1941,3177,4094,44.5,-14.7,44,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1941,3178,3178,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.48,51.61
$GC,348,-1.82,-585.0,1756,1941,3178,4095,50.6,-14.8,50,355,0.00,1.12,0.00,0.000,260,0.000,0.047,1757,2370,3179,3179,4094,0,0,0,0,0,0,26.56,26.07,26.57,10.47,51.85
$GC,591,-1.82,-585.0,1756,2370,3180,4094,59.6,0.3,89,597,0.00,1.02,0.00,0.000,1030,0.000,0.032,1757,1962,3180,3180,4094,0,0,0,0,0,0,26.29,26.24,26.32,10.43,49.88
$GC,633,-1.82,-585.0,1756,1961,3180,4094,59.7,0.0,95,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1961,3180,3180,4095,0,0,0,0,0,0,26.67,26.67,26.67,10.42,50.15
$GC,674,-1.82,-585.0,1756,1962,3180,4095,59.7,-0.2,101,680,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4095,0,0,0,0,0,0,26.67,26.69,26.69,10.42,50.07
$GC,714,-1.82,-585.0,1755,1962,3180,4095,59.6,0.0,107,720,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.42,50.19
$GC,756,-1.82,-585.0,1756,1961,3179,4095,59.7,-0.1,113,761,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.42,50.15
$GC,797,-1.82,-585.0,1757,1962,3180,4094,59.7,0.1,119,803,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.42,50.19
$GC,838,-1.82,-585.0,1756,1961,3180,4094,59.7,-0.1,125,844,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4095,0,0,0,0,0,0,26.72,26.73,26.72,10.41,50.55
$GC,879,-1.82,-585.0,1756,1962,3180,4095,59.7,-1.1,131,885,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4095,0,0,0,0,0,0,26.72,26.74,26.73,10.41,50.78
$GC,920,-1.82,-585.0,1756,1961,3180,4095,59.7,0.1,137,926,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4094,0,0,0,0,0,0,26.73,26.74,26.74,10.41,50.70
$GC,961,-1.82,-585.0,1756,1961,3180,4094,59.7,0.1,143,967,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1962,3180,3180,4094,0,0,0,0,0,0,26.74,26.75,26.75,10.41,50.39
$STATE,972,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,972,begin apogee
$GC,984,-0.45,0.0,1757,2146,3180,4095,59.7,0.0,145,1026,4.45,0.00,33.38,1.286,10244,0.032,0.000,2189,2146,2484,2484,4095,0,0,0,0,0,0,26.34,25.31,24.20,10.40,50.31
$STATE,1027,end apogee,CONTROL_FINISHED_OK
$STATE,1027,begin climb
$GC,1032,1.82,585.0,2189,2146,2483,4095,59.7,0.0,152,1079,7.60,0.00,33.15,1.252,11270,0.031,0.000,2902,2146,1803,1803,4095,0,0,0,0,0,0,25.63,25.83,23.76,10.27,50.23
$GC,1115,1.82,585.0,2901,2146,1802,4095,54.4,10.8,165,1122,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1716,1802,1802,4095,0,0,0,0,0,0,25.57,25.20,25.58,10.12,49.60
$GC,1240,1.82,585.0,2902,1716,1798,4095,38.7,13.4,185,1247,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2120,1798,1798,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.12,50.55
$GC,1282,1.82,585.0,2902,2120,1796,4094,33.4,12.8,191,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1797,1797,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,51.10
$GC,1323,1.82,585.0,2902,2120,1795,4094,27.6,14.1,197,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1795,1795,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.14,50.98
$GC,1364,1.82,585.0,2902,2120,1794,4094,22.1,13.2,203,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1794,1794,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.16,52.48
$GC,1404,1.82,585.0,2902,2120,1793,4094,17.3,12.0,209,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1793,1793,4093,0,0,0,0,0,0,26.29,26.31,26.30,10.17,52.91
$GC,1445,1.82,585.0,2902,2120,1792,4093,12.6,11.2,215,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1791,1791,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.18,54.17
$GC,1486,1.82,585.0,2902,2120,1790,4094,7.9,11.5,221,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1790,1790,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.19,54.29
$GC,1527,1.82,585.0,2902,2120,1789,4094,3.3,11.1,227,1533,0.00,1.08,0.00,0.000,516,0.000,0.045,2902,1710,1789,1789,4094,0,0,0,0,0,0,26.41,25.93,26.41,10.20,53.93
$STATE,1538,end climb,FINISH_DEPTH_REACHED
$STATE,1539,begin subsurface finish
$FINISH1,1.5,1.024117,103
$GC,1553,0.15,103.3,2902,2142,1788,4094,1.5,11.1,229,1567,5.20,0.00,-5.28,0.000,20486,0.021,0.000,2390,2143,2370,2370,4095,0,0,0,0,0,0,26.14,24.37,26.19,10.20,54.13
$FINISH2,0.1
$STATE,1568,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1568,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,041319
$TT8_MAMPS,0.025466,0.107856
$HUMID,54.64
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.76,64.164
$10V_AH,10.34,58.825
$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,23.175,9.525,66.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,579.908,373.935,173.235,335.794,168.190,0.000,408.347,0.000,341.742,0.000,0.543,0.000
$DEVICE_MAMPS,35.955,1246.185,1285.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,155.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,17789,231
$CAP_FILE_SIZE,36559,0
$CFSIZE,1024409600,911884288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,055919,6007.485,-17251.666,7,0.9,18,7.5,0.3,112.0,9,4.5