version: 66.13
glider: 401
mission: 22
dive: 2542
start: 9 9 117 5 15 5
data:
$ID,401
$MISSION,22
$DIVE,2542
$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,48
$R_STBD_OVSHOOT,45
$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
$GPS1,090917,050347,5945.1533,-17125.9453,5,0.7,14,8.2,0.0,8.6,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-39.8
$GPS2,090917,051426,5945.1675,-17125.9199,7,0.7,17,8.2,0.5,247.8,11,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W24S
$TGT_LATLONG,5935.700,-17055.381
$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,113.3,33567,-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,5,begin dive
$GC,12,-1.80,-487.5,230,1978,1861,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.091,0.000,946,1979,1861,1861,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.26,52.24
$GC,29,-1.80,-487.5,945,1978,1861,4094,0.8,0.0,1,57,8.62,1.25,-11.00,0.000,18948,0.037,1.224,1757,1542,3056,3056,4094,0,0,0,0,0,0,25.99,23.74,26.04,10.26,52.79
$GC,311,-1.80,-487.5,1756,1542,3063,4094,36.5,-13.2,41,320,0.00,0.93,0.00,0.000,1030,0.000,0.027,1757,1943,3064,3064,4095,0,0,0,0,0,0,26.21,26.17,26.25,10.44,50.03
$GC,361,-1.80,-487.5,1756,1943,3064,4095,43.2,-13.6,47,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1943,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,49.68
$GC,410,-1.80,-487.5,1756,1942,3066,4095,50.1,-13.9,53,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1943,3066,3066,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.41,48.03
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,460,-0.45,0.0,1757,2132,3067,4095,55.8,-13.7,58,496,4.62,0.00,28.73,1.261,10244,0.054,0.000,2185,2132,2484,2484,4095,0,0,0,0,0,0,26.08,25.17,23.93,10.39,47.40
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,497,begin climb
$GC,503,1.80,487.5,2185,2132,2484,4095,60.0,0.0,62,549,7.55,1.08,28.25,1.245,10756,0.028,0.041,2902,1721,1917,1917,4095,0,0,0,0,0,0,25.55,25.48,23.56,10.28,46.57
$GC,653,1.80,487.5,2901,1720,1914,4095,46.7,13.5,81,663,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2135,1914,1914,4094,0,0,0,0,0,0,25.66,25.63,25.69,10.14,46.49
$GC,703,1.80,487.5,2901,2135,1912,4094,39.5,13.2,87,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1912,1912,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.13,47.08
$GC,751,1.80,487.5,2901,2135,1911,4094,33.1,13.3,93,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1911,1911,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.12,46.53
$GC,800,1.80,487.5,2901,2135,1910,4094,26.6,13.3,99,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1909,1909,4094,0,0,0,0,0,0,26.26,26.27,26.26,10.13,47.08
$GC,848,1.80,487.5,2901,2135,1908,4094,20.9,10.8,105,858,0.00,1.05,0.00,0.000,516,0.000,0.044,2902,1736,1908,1908,4094,0,0,0,0,0,0,26.32,25.87,26.33,10.17,48.77
$STATE,1027,end climb,FINISH_DEPTH_REACHED
$STATE,1027,begin subsurface finish
$FINISH1,1.4,1.024328,89
$GC,1043,0.13,88.6,2902,2155,1903,4094,1.4,11.2,131,1061,5.30,0.00,-4.15,0.000,20486,0.022,0.000,2376,2156,2384,2384,4095,0,0,0,0,0,0,26.21,25.50,26.26,10.22,52.28
$FINISH2,0.4
$STATE,1062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,035652
$TT8_MAMPS,0.026215,0.256158
$HUMID,52.91
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.56,74.358
$10V_AH,9.98,66.974
$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,34.575,6.800,56.975,0.000,0.000,24.298,23.856,276.143,0.000,0.000,18.521,369.296,1.318,96.707,829.060,405.867,0.000,300.117,0.000,327.797,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1224.000,1261.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.203,361.333,285.992,423.576,552.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,14300,133
$CAP_FILE_SIZE,24198,0
$CFSIZE,1024409600,894566400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,051426,5945.167,-17125.920,7,0.7,17,8.2,0.5,247.8,11,4.7