version: 66.13
glider: 401
mission: 22
dive: 2418
start: 9 7 117 3 22 56
data:
$ID,401
$MISSION,22
$DIVE,2418
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,070917,024252,5952.7808,-17200.7031,8,0.8,19,7.9,0.0,247.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-4.4
$GPS2,070917,024252,5952.7808,-17200.7031,8,0.8,19,7.9,0.0,247.6,11,5.0
$SPEED_LIMITS,0.231,0.398
$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,102.1,33427,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,6,begin dive
$GC,12,-1.80,-487.5,2387,1951,2377,4092,0.0,0.0,0,23,6.40,0.00,-2.00,0.000,20482,0.035,0.000,1774,1952,2585,2585,4094,0,0,0,0,0,0,26.23,28.83,26.27,10.32,54.80
$GC,30,-1.80,-487.5,1773,1951,2585,4094,0.1,0.0,1,40,0.00,1.23,-4.57,0.000,16900,0.000,1.242,1774,1521,3057,3057,4094,0,0,0,0,0,0,26.50,24.07,26.51,10.36,54.88
$GC,269,-1.80,-487.5,1773,1520,3062,4094,27.6,-14.9,35,278,0.00,1.00,0.00,0.000,1030,0.000,0.026,1774,1949,3062,3062,4095,0,0,0,0,0,0,26.28,26.27,26.30,10.44,53.58
$GC,320,-1.80,-487.5,1773,1949,3064,4095,34.3,-13.4,41,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1949,3064,3064,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.40,52.63
$GC,370,-1.80,-487.5,1773,1950,3065,4094,41.1,-13.7,47,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1950,3065,3065,4095,0,0,0,0,0,0,26.60,26.63,26.62,10.38,52.00
$GC,420,-1.80,-487.5,1773,1950,3066,4095,48.0,-14.0,53,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1950,3066,3066,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.38,50.15
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,477,-0.45,0.0,1773,2140,3067,4095,55.2,-14.0,59,514,4.43,0.00,28.58,1.265,10244,0.054,0.000,2184,2140,2483,2483,4094,0,0,0,0,0,0,26.16,25.27,24.08,10.38,49.80
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,521,1.80,487.5,2184,2140,2484,4094,59.5,0.0,63,564,7.62,0.00,28.12,1.239,11270,0.030,0.000,2901,2140,1914,1914,4094,0,0,0,0,0,0,25.68,25.89,23.71,10.25,49.01
$GC,606,1.80,487.5,2901,2140,1914,4094,53.2,12.2,73,615,0.00,1.15,0.00,0.000,516,0.000,0.047,2901,1712,1913,1913,4094,0,0,0,0,0,0,25.69,25.30,25.70,10.12,47.28
$GC,746,1.80,487.5,2900,1711,1910,4094,34.1,13.6,93,755,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2129,1909,1909,4094,0,0,0,0,0,0,25.83,25.79,25.85,10.09,47.99
$GC,795,1.80,487.5,2901,2129,1908,4094,27.6,13.4,99,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.09,48.38
$GC,844,1.80,487.5,2901,2129,1907,4094,21.7,10.8,105,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1907,1907,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.14,49.05
$GC,893,2.08,673.5,2901,2129,1905,4095,17.4,8.0,111,912,0.82,0.00,11.02,0.728,10246,0.026,0.000,2989,2130,1698,1698,4094,0,0,0,0,0,0,26.08,25.08,24.47,10.17,50.82
$GC,953,2.09,679.6,2988,2129,1696,4094,11.7,10.7,118,963,0.00,0.00,0.57,0.003,8198,0.000,0.000,2989,2130,1696,1696,4094,0,0,0,0,0,0,26.25,26.25,26.24,10.14,52.44
$GC,1004,2.09,679.6,2988,2129,1695,4094,4.6,14.7,124,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2129,1695,1695,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.15,52.67
$STATE,1020,end climb,SURFACE_DEPTH_REACHED
$STATE,1020,begin surface coast
$FINISH,0.3,1.024225
$STATE,1035,end surface coast,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$SM_CCo,1145,0.00,0.000,0,0,1693,680.01
$SM_GC,0.68,28.92,0.47,0.00,0.019,0.046,0.000,231,1945,1693,-6.59,1.18,680.01,0,0,0,0,0,0,25.84,26.00,25.95
$IRIDIUM_FIX,5955.74,-17228.01,070917,012745
$TT8_MAMPS,0.025466,0.245672
$HUMID,53.42
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.71,70.792
$10V_AH,10.05,64.133
$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,48.200,6.925,68.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,370.605,59.849,125.371,535.701,125.386,0.000,324.455,0.000,312.735,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1242.360,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.745,347.788,275.226,408.244,534.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10888,128
$CAP_FILE_SIZE,23384,0
$CFSIZE,1024409600,900628480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,034307,5952.975,-17159.600,6,0.8,20,7.9,0.5,60.8,11,4.9