version: 66.13
glider: 401
mission: 22
dive: 3098
start: 9 18 117 10 53 28
data:
$ID,401
$MISSION,22
$DIVE,3098
$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,29
$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
$GPS1,180917,103358,5845.5083,-17017.9199,6,1.0,22,8.7,0.6,219.9,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-1.1
$GPS2,180917,103358,5845.5083,-17017.9199,6,1.0,22,8.7,0.6,219.9,9,4.7
$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,135.1,33007,-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,-487.5,2376,1946,2404,4092,0.0,0.0,0,23,6.07,0.00,-2.38,0.000,20482,0.018,0.000,1757,1946,2664,2664,4095,0,0,0,0,0,0,26.32,28.83,26.36,10.33,52.75
$GC,30,-1.80,-487.5,1756,1946,2664,4095,0.1,0.0,1,40,0.00,1.20,-3.70,0.000,16900,0.000,1.232,1757,1520,3058,3058,4095,0,0,0,0,0,0,26.59,23.75,26.58,10.38,53.34
$GC,303,-1.80,-487.5,1756,1520,3064,4095,30.7,-12.3,40,313,0.00,1.02,0.00,0.000,1030,0.000,0.027,1756,1957,3064,3064,4095,0,0,0,0,0,0,26.33,26.30,26.39,10.45,53.03
$GC,355,-1.80,-487.5,1757,1957,3065,4095,37.3,-13.0,46,364,0.00,1.12,0.00,0.000,516,0.000,0.050,1756,1521,3066,3066,4095,0,0,0,0,0,0,26.67,26.09,26.69,10.43,52.67
$GC,430,-1.80,-487.5,1756,1521,3067,4095,47.9,-13.8,56,440,0.00,1.00,0.00,0.000,1030,0.000,0.027,1756,1950,3067,3067,4094,0,0,0,0,0,0,26.36,26.34,26.39,10.41,51.73
$GC,480,-1.80,-487.5,1756,1950,3068,4094,54.8,-13.8,62,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1950,3068,3068,4095,0,0,0,0,0,0,26.72,26.73,26.73,10.41,50.90
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,510,-0.45,0.0,1756,2140,3069,4095,57.8,-13.7,64,547,4.57,0.00,28.83,1.294,10244,0.054,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.15,25.08,23.72,10.41,50.19
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,554,1.80,487.5,2186,2140,2484,4094,61.8,0.0,68,597,7.43,1.12,28.45,1.259,10756,0.028,0.044,2904,1708,1915,1915,4095,0,0,0,0,0,0,25.63,25.56,23.37,10.29,50.11
$GC,651,1.80,487.5,2903,1708,1914,4095,53.3,13.8,80,661,0.00,1.08,0.00,0.000,1030,0.000,0.030,2904,2136,1914,1914,4094,0,0,0,0,0,0,25.54,25.50,25.56,10.16,48.58
$GC,701,1.80,487.5,2903,2136,1913,4094,46.3,14.0,86,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1912,1912,4095,0,0,0,0,0,0,26.04,26.06,26.06,10.15,48.46
$GC,750,1.80,487.5,2903,2135,1911,4095,39.4,14.1,92,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1911,1911,4095,0,0,0,0,0,0,26.17,26.20,26.19,10.15,49.09
$GC,800,1.80,487.5,2904,2135,1909,4095,32.6,13.7,98,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1909,1909,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.15,48.74
$GC,849,1.80,487.5,2903,2135,1908,4095,25.9,13.5,104,866,0.00,1.12,0.00,0.000,516,0.000,0.047,2903,1702,1908,1908,4095,0,0,0,0,0,0,26.36,25.83,26.36,10.15,48.81
$GC,1062,1.92,565.5,2903,1700,1903,4095,3.2,9.6,133,1074,0.25,1.08,5.35,0.464,11270,0.034,0.043,2941,2126,1823,1823,4094,0,0,0,0,0,0,26.10,26.04,24.16,10.20,52.71
$STATE,1082,end climb,FINISH_DEPTH_REACHED
$STATE,1082,begin subsurface finish
$FINISH1,0.2,1.024565,72
$GC,1097,0.11,72.1,2941,2125,1822,4094,0.2,9.8,135,1115,5.68,0.00,-5.22,0.000,20486,0.021,0.000,2370,2127,2407,2407,4095,0,0,0,0,0,0,26.24,25.52,26.28,10.19,52.40
$FINISH2,0.1
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,102659
$TT8_MAMPS,0.025466,0.23968
$HUMID,52.63
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.37,90.173
$10V_AH,9.82,79.545
$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,24.000,9.675,62.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.037,0.000,96.437,572.300,132.180,0.000,305.139,0.000,334.503,0.000,0.544,0.000
$DEVICE_MAMPS,53.550,1231.650,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.426,372.237,294.582,436.897,570.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333680
$DATA_FILE_SIZE,14355,137
$CAP_FILE_SIZE,22591,0
$CFSIZE,1024409600,893976576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,849.93,0x236162,1,24
$GPS,180917,103358,5845.508,-17017.920,6,1.0,22,8.7,0.6,219.9,9,4.7