version: 66.13
glider: 401
mission: 22
dive: 2997
start: 9 16 117 19 30 34
data:
$ID,401
$MISSION,22
$DIVE,2997
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,160917,185146,5851.4697,-17020.8223,5,0.8,16,8.7,0.5,251.5,11,5.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-3.5
$GPS2,160917,185146,5851.4697,-17020.8223,5,0.8,16,8.7,0.5,251.5,11,5.0
$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,140.7,43784,-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,-487.5,2370,1964,2396,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.024,0.000,1807,1964,2396,2396,4094,0,0,0,0,0,0,26.54,28.83,28.83,10.32,52.63
$GC,26,-1.80,-487.5,1806,1964,2396,4094,0.0,0.0,1,40,0.20,1.20,-6.53,0.000,20740,0.047,1.214,1774,2376,3053,3053,4095,0,0,0,0,0,0,26.29,23.75,26.31,10.32,52.52
$GC,248,-1.80,-487.5,1774,2376,3060,4095,31.2,-14.6,36,255,0.00,1.08,0.00,0.000,1030,0.000,0.031,1774,1945,3060,3060,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.44,52.79
$GC,292,-1.80,-487.5,1774,1945,3060,4095,37.1,-14.4,42,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1945,3061,3061,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.42,52.16
$GC,334,-1.80,-487.5,1774,1945,3062,4094,43.1,-13.8,48,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3062,3062,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.40,51.53
$GC,376,-1.80,-487.5,1773,1945,3062,4095,48.7,-12.6,54,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3062,3062,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.40,51.22
$GC,418,-1.80,-487.5,1774,1945,3064,4094,53.8,-11.8,60,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3064,3064,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.39,50.55
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,443,-0.45,0.0,1774,2145,3064,4095,56.2,-13.0,62,479,4.38,0.00,28.67,1.281,10244,0.052,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.14,25.13,23.78,10.40,50.35
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,487,1.80,487.5,2186,2145,2484,4094,59.9,0.0,68,528,7.43,0.00,28.40,1.240,11270,0.029,0.000,2901,2145,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,23.41,10.28,49.68
$GC,565,1.80,487.5,2900,2145,1915,4094,53.2,13.5,80,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.15,48.50
$GC,606,1.80,487.5,2900,2145,1913,4094,47.2,14.4,86,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1913,1913,4094,0,0,0,0,0,0,25.92,25.93,25.93,10.14,49.37
$GC,648,1.80,487.5,2900,2145,1912,4094,41.3,14.1,92,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2146,1912,1912,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.14,49.21
$GC,690,1.80,487.5,2900,2145,1911,4094,35.6,13.4,98,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1911,1911,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.14,49.01
$GC,732,1.80,487.5,2900,2145,1909,4094,29.9,13.4,104,738,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1719,1909,1909,4094,0,0,0,0,0,0,26.26,25.77,26.27,10.13,49.25
$GC,928,1.80,487.5,2900,1719,1904,4094,6.9,11.7,135,934,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2132,1904,1904,4095,0,0,0,0,0,0,26.15,26.11,26.17,10.19,53.07
$GC,970,1.80,487.5,2901,2131,1903,4095,2.1,10.9,141,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1902,1902,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.19,52.87
$STATE,981,end climb,SURFACE_DEPTH_REACHED
$STATE,981,begin surface coast
$FINISH,-0.1,1.001307
$STATE,995,end surface coast,CONTROL_FINISHED_OK
$STATE,995,begin surface
$SM_CCo,1105,0.00,0.000,0,0,1901,501.42
$SM_GC,0.84,27.33,0.45,0.00,0.020,0.036,0.000,231,1947,1901,-6.59,1.50,501.42,0,0,0,0,0,0,26.03,26.23,26.11
$IRIDIUM_FIX,5807.44,-16912.56,160917,173814
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.58
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.41,87.312
$10V_AH,10.26,77.274
$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,44.975,5.800,57.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,387.264,296.046,141.172,210.332,142.350,0.000,292.966,0.000,220.029,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1214.055,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333720
$DATA_FILE_SIZE,10849,145
$CAP_FILE_SIZE,23837,0
$CFSIZE,1024409600,898940928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160917,195026,5851.317,-17021.836,8,0.8,39,8.7,1.0,296.4,10,4.7