version: 66.13
glider: 401
mission: 22
dive: 2565
start: 9 9 117 14 28 4
data:
$ID,401
$MISSION,22
$DIVE,2565
$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,20
$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
$GPS1,090917,134823,5942.7725,-17119.4805,6,0.7,15,8.2,0.0,221.9,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-4.2
$GPS2,090917,134823,5942.7725,-17119.4805,6,0.7,15,8.2,0.0,221.9,12,4.7
$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,111.9,26111,-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,-487.5,2379,1959,2386,4092,0.0,0.0,0,19,5.70,0.00,0.00,0.000,4097,0.025,0.000,1822,1960,2385,2385,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.32,53.38
$GC,26,-1.80,-487.5,1821,1959,2386,4094,0.1,0.0,1,40,0.38,1.17,-6.35,0.000,20740,0.041,1.212,1778,2382,3055,3055,4094,0,0,0,0,0,0,26.17,23.95,26.20,10.33,54.13
$GC,193,-1.80,-487.5,1777,2382,3058,4094,16.8,-11.4,27,200,0.00,1.10,0.00,0.000,1030,0.000,0.032,1778,1948,3058,3058,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.48,53.97
$GC,236,-1.80,-487.5,1777,1947,3060,4094,20.6,-9.3,33,243,0.00,1.10,0.00,0.000,516,0.000,0.055,1777,1517,3059,3059,4094,0,0,0,0,0,0,26.53,26.02,26.55,10.48,54.13
$GC,291,-1.80,-487.5,1777,1517,3060,4094,26.3,-9.9,41,297,0.00,0.88,0.00,0.000,1030,0.000,0.025,1778,1913,3060,3060,4095,0,0,0,0,0,0,26.31,26.29,26.32,10.47,53.81
$GC,334,-1.80,-487.5,1777,1914,3061,4095,30.5,-9.9,47,340,0.00,1.12,0.00,0.000,260,0.000,0.041,1777,2351,3061,3061,4094,0,0,0,0,0,0,26.58,26.13,26.59,10.43,52.28
$GC,418,-1.80,-487.5,1777,2351,3062,4094,38.6,-9.6,60,425,0.00,1.25,0.00,0.000,1030,0.000,0.033,1778,1857,3062,3062,4095,0,0,0,0,0,0,26.24,26.20,26.28,10.39,50.90
$GC,461,-1.80,-487.5,1777,1857,3063,4095,42.7,-9.6,66,468,0.00,0.85,0.00,0.000,516,0.000,0.057,1777,1521,3064,3064,4095,0,0,0,0,0,0,26.63,26.12,26.64,10.39,50.39
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,591,-0.45,0.0,1777,2112,3066,4094,55.3,-10.6,85,627,4.40,0.00,28.48,1.254,10244,0.054,0.000,2185,2113,2484,2484,4094,0,0,0,0,0,0,26.19,25.26,24.01,10.38,49.25
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,634,1.80,487.5,2185,2112,2484,4094,58.8,0.0,91,677,7.50,1.08,28.23,1.236,10756,0.029,0.044,2902,1703,1916,1916,4094,0,0,0,0,0,0,25.62,25.55,23.62,10.24,48.81
$GC,777,1.94,579.6,2901,1703,1913,4094,47.9,9.4,113,791,0.38,1.08,6.82,0.862,11270,0.031,0.028,2949,2138,1807,1807,4094,0,0,0,0,0,0,25.67,25.63,23.82,10.11,48.07
$GC,827,1.99,610.6,2949,2137,1806,4094,42.8,10.3,120,835,0.00,1.17,3.50,0.512,8452,0.000,0.052,2949,2570,1772,1772,4094,0,0,0,0,0,0,25.98,25.15,23.80,10.09,48.26
$GC,996,1.99,610.6,2949,2569,1766,4094,22.6,12.9,146,1003,0.00,0.95,0.00,0.000,1030,0.000,0.026,2949,2180,1767,1767,4094,0,0,0,0,0,0,26.02,26.00,26.04,10.10,50.11
$GC,1038,1.99,610.6,2949,2180,1765,4094,17.2,11.5,152,1045,0.00,1.17,0.00,0.000,516,0.000,0.046,2949,1723,1765,1765,4094,0,0,0,0,0,0,26.34,25.88,26.35,10.13,51.49
$GC,1141,1.99,610.6,2948,1723,1762,4094,4.7,11.3,168,1147,0.00,1.12,0.00,0.000,1030,0.000,0.031,2949,2180,1762,1762,4094,0,0,0,0,0,0,26.10,26.07,26.14,10.17,53.93
$STATE,1165,end climb,SURFACE_DEPTH_REACHED
$STATE,1165,begin surface coast
$FINISH,0.1,1.024333
$STATE,1184,end surface coast,CONTROL_FINISHED_OK
$STATE,1184,begin surface
$SM_CCo,1295,0.00,0.000,0,0,1760,622.48
$SM_GC,0.69,28.33,0.57,0.00,0.021,0.041,0.000,230,1955,1760,-6.59,1.69,622.48,0,0,0,0,0,0,26.04,26.13,26.11
$IRIDIUM_FIX,5955.74,-17228.01,090917,123030
$TT8_MAMPS,0.025466,0.106358
$HUMID,54.60
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.62,75.002
$10V_AH,10.30,67.494
$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,46.675,16.575,67.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,464.870,366.381,145.540,252.553,137.648,0.000,314.841,0.000,262.604,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1211.760,1253.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,14322,175
$CAP_FILE_SIZE,28125,0
$CFSIZE,1024409600,893435904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,145053,5942.555,-17119.787,8,0.8,27,8.2,0.4,82.3,10,5.0