version: 66.13
glider: 401
mission: 22
dive: 3006
start: 9 16 117 22 56 33
data:
$ID,401
$MISSION,22
$DIVE,3006
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,160917,221755,5851.9434,-17024.2188,8,0.8,19,8.6,0.2,294.8,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-0.8
$GPS2,160917,221755,5851.9434,-17024.2188,8,0.8,19,8.6,0.2,294.8,11,4.8
$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,137.9,46272,-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,-487.5,2374,1942,2401,4092,0.0,0.0,0,30,6.12,0.00,-6.50,0.000,20486,0.022,0.000,1761,1942,3056,3056,4094,0,0,0,0,0,0,26.27,25.53,26.32,10.31,54.05
$GC,37,-1.80,-487.5,1761,1942,3056,4094,0.0,-0.8,2,47,0.00,1.05,0.00,0.000,516,0.000,0.043,1761,1520,3057,3057,4095,0,0,0,0,0,0,26.48,26.04,26.48,10.44,54.13
$GC,61,-1.80,-487.5,1760,1519,3057,4095,2.5,-7.1,4,70,0.00,1.02,0.00,0.000,1030,0.000,0.026,1761,1959,3057,3057,4095,0,0,0,0,0,0,26.21,26.17,26.23,10.45,53.74
$GC,112,-1.80,-487.5,1760,1959,3059,4095,10.0,-16.1,10,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1960,3059,3059,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.46,53.11
$GC,163,-1.80,-487.5,1760,1959,3060,4094,19.3,-17.4,16,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1959,3061,3061,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.46,53.22
$GC,213,-1.80,-487.5,1760,1959,3062,4095,27.6,-15.0,22,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1959,3062,3062,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.43,53.03
$GC,264,-1.80,-487.5,1760,1959,3063,4095,34.4,-13.0,28,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1959,3063,3063,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.41,52.20
$GC,315,-1.80,-487.5,1760,1960,3064,4094,41.3,-14.0,34,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1959,3065,3065,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.40,51.57
$GC,364,-1.80,-487.5,1760,1959,3066,4094,48.4,-14.6,40,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1960,3066,3066,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.39,50.82
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,409,begin apogee
$GC,423,-0.45,0.0,1761,2140,3067,4095,55.1,-12.8,46,466,4.53,0.00,28.75,1.271,10244,0.054,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.15,24.63,23.77,10.39,50.47
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,474,1.80,487.5,2186,2141,2485,4094,60.2,0.0,51,518,7.45,0.00,28.48,1.252,11270,0.030,0.000,2902,2141,1916,1916,4094,0,0,0,0,0,0,25.75,25.96,23.42,10.27,50.55
$GC,560,1.80,487.5,2902,2141,1915,4094,54.0,12.3,61,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1915,1915,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.15,49.13
$GC,611,1.80,487.5,2901,2141,1914,4094,47.3,13.3,67,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1914,1914,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.13,48.74
$GC,661,1.80,487.5,2901,2141,1912,4094,40.7,12.7,73,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1912,1912,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.13,48.89
$GC,712,1.80,487.5,2902,2140,1911,4094,34.0,12.7,79,722,0.00,1.12,0.00,0.000,516,0.000,0.046,2902,1714,1911,1911,4094,0,0,0,0,0,0,26.25,25.75,26.27,10.13,49.05
$GC,983,1.92,564.1,2902,1714,1903,4094,3.1,9.6,118,994,0.28,1.02,5.38,0.470,11270,0.030,0.031,2940,2134,1824,1824,4094,0,0,0,0,0,0,26.18,26.13,24.14,10.18,52.75
$STATE,1002,end climb,SURFACE_DEPTH_REACHED
$STATE,1002,begin surface coast
$FINISH,0.0,1.024496
$STATE,1032,end surface coast,CONTROL_FINISHED_OK
$STATE,1032,begin surface
$SM_CCo,1142,0.00,0.000,0,0,1824,568.39
$SM_GC,0.71,27.60,0.47,0.00,0.020,0.046,0.000,237,1945,1824,-6.55,1.41,568.39,0,0,0,0,0,0,26.27,26.15,26.29
$IRIDIUM_FIX,5807.44,-16912.56,160917,210519
$TT8_MAMPS,0.025466,0.24717
$HUMID,53.15
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.42,87.557
$10V_AH,9.86,77.482
$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,45.975,5.600,62.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,364.148,59.700,128.992,518.935,142.486,0.000,333.195,0.000,304.249,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,45.900,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.205,336.909,266.654,395.758,516.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,10831,124
$CAP_FILE_SIZE,23270,0
$CFSIZE,1024409600,898498560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160917,231700,5852.343,-17024.357,4,0.8,37,8.6,0.4,223.2,10,5.0