version: 66.13
glider: 401
mission: 22
dive: 2890
start: 9 15 117 2 46 56
data:
$ID,401
$MISSION,22
$DIVE,2890
$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,24
$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,4
$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
$GPS1,150917,023700,5903.4658,-17026.6387,52,0.8,57,8.6,0.6,110.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-38.2
$GPS2,150917,024617,5903.4258,-17026.4746,6,0.9,17,8.6,0.5,16.7,10,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,146.5,65953,-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,-487.5,240,1948,1835,4092,0.0,0.0,0,22,7.50,0.00,0.00,0.000,2049,0.080,0.000,888,1949,1836,1836,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.23,53.03
$GC,29,-1.80,-487.5,888,1948,1836,4094,0.7,0.0,1,56,9.12,0.00,-11.48,0.000,18438,0.040,0.000,1744,1947,3055,3055,4095,0,0,0,0,0,0,25.94,25.46,25.98,10.24,52.16
$GC,98,-1.80,-487.5,1744,1947,3056,4095,4.6,-14.1,9,106,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1947,3056,3056,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.50,52.55
$GC,148,-1.80,-487.5,1744,1947,3058,4095,13.7,-17.7,15,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1948,3058,3058,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.50,52.20
$GC,199,-1.80,-487.5,1744,1947,3060,4094,23.0,-18.2,21,208,0.00,1.15,0.00,0.000,260,0.000,0.047,1744,2376,3060,3060,4095,0,0,0,0,0,0,26.48,25.94,26.48,10.49,51.57
$GC,288,-1.80,-487.5,1744,2376,3062,4095,36.9,-15.0,33,297,0.00,1.08,0.00,0.000,1030,0.000,0.031,1745,1945,3062,3062,4095,0,0,0,0,0,0,26.16,26.13,26.20,10.44,50.63
$GC,338,-1.80,-487.5,1744,1945,3063,4095,44.5,-15.4,39,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1946,3064,3064,4094,0,0,0,0,0,0,26.57,26.59,26.58,10.43,49.56
$GC,387,-1.80,-487.5,1744,1946,3065,4094,51.8,-14.3,45,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1945,3065,3065,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.42,49.17
$STATE,404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,404,begin apogee
$GC,418,-0.45,0.0,1744,2143,3066,4094,55.3,-15.1,47,461,4.78,0.00,28.80,1.268,10244,0.055,0.000,2186,2143,2485,2485,4094,0,0,0,0,0,0,26.06,24.61,23.75,10.41,48.70
$STATE,462,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2186,2143,2485,4094,60.2,0.0,52,513,7.60,0.00,28.40,1.243,11270,0.029,0.000,2902,2143,1919,1919,4094,0,0,0,0,0,0,25.70,25.91,23.42,10.30,48.46
$GC,555,1.80,487.5,2901,2143,1918,4094,53.6,12.4,62,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1918,1918,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.17,47.40
$GC,606,1.80,487.5,2901,2142,1916,4094,46.7,13.7,68,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1916,1916,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.16,47.16
$GC,657,1.80,487.5,2901,2143,1915,4094,39.9,13.4,74,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1914,1914,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.15,47.51
$GC,706,1.80,487.5,2901,2143,1913,4094,33.3,13.0,80,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1913,1913,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.15,47.55
$GC,756,1.80,487.5,2901,2143,1912,4094,26.8,13.0,86,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1911,1911,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.15,47.79
$GC,806,1.80,487.5,2901,2143,1911,4094,20.7,11.9,92,815,0.00,1.12,0.00,0.000,516,0.000,0.045,2902,1715,1910,1910,4094,0,0,0,0,0,0,26.38,25.88,26.39,10.17,48.50
$GC,881,1.80,487.5,2901,1714,1908,4094,12.1,11.1,102,891,0.00,1.00,0.00,0.000,1030,0.000,0.031,2902,2127,1908,1908,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.20,51.22
$GC,931,1.80,487.5,2901,2127,1906,4094,6.4,11.3,108,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1905,1905,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.21,51.77
$STATE,967,end climb,FINISH_DEPTH_REACHED
$STATE,967,begin subsurface finish
$FINISH1,1.4,1.024343,88
$GC,982,0.13,87.5,2901,2127,1906,4095,1.4,12.1,113,1000,5.25,0.00,-4.38,0.000,20486,0.020,0.000,2378,2127,2388,2388,4094,0,0,0,0,0,0,26.24,25.55,26.28,10.22,52.04
$FINISH2,0.3
$STATE,1001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,150917,013025
$TT8_MAMPS,0.025466,0.253911
$HUMID,52.00
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.42,84.367
$10V_AH,9.88,74.951
$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,34.250,4.850,57.200,0.000,0.000,24.803,30.436,250.572,0.000,0.000,18.895,338.042,0.000,121.091,741.602,363.006,0.000,342.602,0.000,284.625,0.000,0.542,0.000
$DEVICE_MAMPS,79.560,47.430,1268.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,77.339,312.558,247.194,366.400,475.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333572
$DATA_FILE_SIZE,10791,115
$CAP_FILE_SIZE,27171,0
$CFSIZE,1024409600,904200192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150917,024617,5903.426,-17026.475,6,0.9,17,8.6,0.5,16.7,10,5.0