version: 66.13
glider: 401
mission: 22
dive: 3167
start: 9 19 117 13 40 2
data:
$ID,401
$MISSION,22
$DIVE,3167
$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,34
$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
$GPS1,190917,132004,5837.4194,-17006.1309,7,0.7,21,8.8,0.6,226.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-4.2
$GPS2,190917,132004,5837.4194,-17006.1309,7,0.7,21,8.8,0.6,226.3,11,4.9
$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,136.5,14190,-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,-487.5,2376,1943,2412,4092,0.0,0.0,0,20,5.68,0.00,0.00,0.000,4097,0.022,0.000,1809,1937,2412,2412,4094,0,0,0,0,0,0,26.61,28.83,28.83,10.31,53.03
$GC,27,-1.80,-487.5,1809,1942,2412,4094,0.3,0.0,1,40,0.22,1.25,-5.40,0.000,20740,0.044,1.212,1776,2371,3055,3055,4095,0,0,0,0,0,0,26.34,23.77,26.36,10.32,53.18
$GC,212,-1.80,-487.5,1775,2371,3059,4095,25.6,-16.3,30,219,0.00,1.02,0.00,0.000,1030,0.000,0.031,1776,1959,3060,3060,4094,0,0,0,0,0,0,26.21,26.17,26.24,10.45,53.30
$GC,255,-1.80,-487.5,1775,1959,3060,4094,31.3,-12.7,36,262,0.00,1.12,0.00,0.000,516,0.000,0.053,1776,1519,3060,3060,4094,0,0,0,0,0,0,26.63,26.03,26.64,10.42,53.42
$GC,382,-1.80,-487.5,1775,1518,3064,4094,47.9,-12.5,56,388,0.00,1.00,0.00,0.000,1030,0.000,0.025,1776,1957,3064,3064,4095,0,0,0,0,0,0,26.38,26.36,26.39,10.39,51.37
$GC,424,-1.80,-487.5,1775,1957,3064,4095,52.9,-10.8,62,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1957,3064,3064,4095,0,0,0,0,0,0,26.70,26.71,26.70,10.39,51.89
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,450,-0.45,0.0,1775,2125,3065,4095,55.1,-12.1,64,486,4.35,0.00,28.70,1.253,10244,0.052,0.000,2186,2125,2484,2484,4094,0,0,0,0,0,0,26.13,25.10,23.75,10.39,51.96
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2186,2125,2484,4094,58.5,0.0,70,535,7.45,0.00,28.35,1.229,11270,0.029,0.000,2903,2125,1915,1915,4094,0,0,0,0,0,0,25.75,25.94,23.40,10.27,50.78
$GC,571,1.80,487.5,2902,2125,1914,4094,52.2,14.3,82,577,0.00,1.12,0.00,0.000,516,0.000,0.050,2903,1713,1914,1914,4094,0,0,0,0,0,0,25.75,25.32,25.76,10.15,49.84
$GC,721,1.80,487.5,2902,1713,1910,4094,31.1,14.0,106,728,0.00,1.02,0.00,0.000,1030,0.000,0.031,2903,2130,1910,1910,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.14,50.27
$GC,764,1.80,487.5,2902,2129,1908,4094,25.5,12.6,112,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1908,1908,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.14,50.11
$GC,806,1.80,487.5,2902,2130,1907,4095,20.9,10.8,118,813,0.00,1.12,0.00,0.000,516,0.000,0.050,2903,1708,1907,1907,4095,0,0,0,0,0,0,26.39,25.84,26.40,10.16,50.70
$GC,933,1.80,487.5,2903,1707,1903,4095,5.0,13.0,138,939,0.00,0.95,0.00,0.000,1030,0.000,0.028,2903,2105,1903,1903,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.19,52.87
$STATE,957,end climb,FINISH_DEPTH_REACHED
$STATE,957,begin subsurface finish
$FINISH1,1.5,1.024630,68
$GC,972,0.10,67.6,2903,2111,1902,4094,1.5,11.1,142,985,5.35,0.00,-4.50,0.000,20486,0.026,0.000,2372,2107,2411,2411,4094,0,0,0,0,0,0,26.20,24.35,26.25,10.19,53.46
$FINISH2,0.3
$STATE,986,end subsurface finish,CONTROL_FINISHED_OK
$STATE,987,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,120710
$TT8_MAMPS,0.026215,0.104111
$HUMID,53.50
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.40,92.095
$10V_AH,10.19,80.785
$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,23.050,9.475,57.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.911,244.492,110.242,208.243,108.694,0.000,256.697,0.000,218.726,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1211.760,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333716
$DATA_FILE_SIZE,10757,144
$CAP_FILE_SIZE,21291,0
$CFSIZE,1024409600,890585088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,132004,5837.419,-17006.131,7,0.7,21,8.8,0.6,226.3,11,4.9