version: 66.13
glider: 401
mission: 22
dive: 2237
start: 9 4 117 3 41 46
data:
$ID,401
$MISSION,22
$DIVE,2237
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,040917,032015,6006.1729,-17247.6055,10,0.9,25,7.5,0.3,105.1,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-3.0
$GPS2,040917,032015,6006.1729,-17247.6055,10,0.9,25,7.5,0.3,105.1,10,5.0
$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,115.6,41679,-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,-487.5,2390,1935,2366,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.024,0.000,1841,1936,2366,2366,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.38,51.02
$GC,25,-1.78,-487.5,1841,1936,2366,4094,0.0,0.0,1,39,0.47,1.08,-6.35,0.000,20996,0.034,1.230,1788,1532,3055,3055,4094,0,0,0,0,0,0,26.17,24.24,26.20,10.38,51.37
$GC,239,-1.78,-487.5,1788,1531,3060,4094,28.4,-14.3,35,245,0.00,1.00,0.00,0.000,1030,0.000,0.026,1788,1959,3060,3060,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.53,51.53
$GC,280,-1.78,-487.5,1788,1959,3061,4095,34.4,-14.2,41,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1959,3062,3062,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.52,51.22
$GC,322,-1.78,-487.5,1788,1959,3062,4094,40.2,-14.8,47,328,0.00,1.08,0.00,0.000,260,0.000,0.044,1788,2372,3062,3062,4094,0,0,0,0,0,0,26.58,26.13,26.59,10.51,50.74
$GC,447,-1.78,-487.5,1787,2372,3066,4094,57.9,-14.7,67,454,0.00,1.00,0.00,0.000,1030,0.000,0.029,1788,1968,3066,3066,4095,0,0,0,0,0,0,26.30,26.27,26.32,10.47,49.64
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,472,-0.45,0.0,1788,2150,3066,4094,60.2,-14.2,69,508,4.18,0.00,28.15,1.265,10244,0.039,0.000,2187,2152,2484,2484,4094,0,0,0,0,0,0,26.21,25.37,24.23,10.47,49.68
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,514,1.78,487.5,2187,2151,2484,4094,60.3,0.0,75,556,7.43,0.00,27.60,1.237,11270,0.029,0.000,2892,2152,1916,1916,4094,0,0,0,0,0,0,25.70,25.88,23.88,10.35,48.74
$GC,591,1.83,523.7,2891,2151,1915,4094,55.9,10.0,87,599,0.10,0.00,3.90,0.631,10246,0.078,0.000,2907,2152,1874,1874,4095,0,0,0,0,0,0,25.47,25.02,23.88,10.21,47.55
$GC,634,1.83,523.7,2907,2152,1872,4095,51.0,11.9,93,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2152,1872,1872,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.21,47.36
$GC,675,1.83,523.7,2907,2151,1871,4094,45.6,13.1,99,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2152,1871,1871,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.21,47.91
$GC,717,1.83,523.7,2907,2151,1870,4094,40.3,12.5,105,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2151,1870,1870,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.21,47.87
$GC,757,1.83,523.7,2907,2152,1869,4094,35.2,11.8,111,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2152,1869,1869,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.21,48.74
$GC,798,1.83,523.7,2907,2151,1868,4094,30.0,12.7,117,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2152,1867,1867,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.22,49.56
$GC,839,1.83,523.7,2907,2151,1866,4094,24.8,12.6,123,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2152,1867,1867,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.22,49.68
$GC,880,1.83,523.7,2907,2151,1865,4094,19.4,13.6,129,887,0.00,1.15,0.00,0.000,516,0.000,0.044,2907,1713,1865,1865,4094,0,0,0,0,0,0,26.34,25.91,26.35,10.22,49.88
$STATE,1041,end climb,FINISH_DEPTH_REACHED
$STATE,1041,begin subsurface finish
$FINISH1,2.0,1.024111,104
$GC,1056,0.16,103.8,2907,2135,1860,4095,2.0,11.3,155,1069,5.22,0.00,-4.43,0.000,20486,0.018,0.000,2390,2144,2368,2368,4094,0,0,0,0,0,0,26.21,24.49,26.25,10.26,52.28
$FINISH2,0.1
$STATE,1070,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1070,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,020231
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.20
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,23.88,65.565
$10V_AH,10.37,60.055
$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,22.975,7.225,59.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,407.351,262.594,122.090,228.311,111.555,0.000,284.098,0.000,237.145,0.000,0.542,0.000
$DEVICE_MAMPS,78.030,1230.120,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,10858,157
$CAP_FILE_SIZE,23847,0
$CFSIZE,1024409600,909557760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,032015,6006.173,-17247.605,10,0.9,25,7.5,0.3,105.1,10,5.0