version: 66.13
glider: 401
mission: 22
dive: 3485
start: 9 24 117 21 38 41
data:
$ID,401
$MISSION,22
$DIVE,3485
$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,5
$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,30
$R_STBD_OVSHOOT,20
$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
$GPS1,240917,211830,5756.7837,-16907.9980,1,0.7,9,9.2,0.7,138.9,12,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-4.5
$GPS2,240917,211830,5756.7837,-16907.9980,1,0.7,9,9.2,0.7,138.9,12,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5756.510,-16838.230
$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,81.8,29266,-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,-487.5,2371,1956,2402,4092,0.0,0.0,0,24,6.07,0.00,-3.62,0.000,20482,0.020,0.000,1765,1956,2782,2782,4094,0,0,0,0,0,0,26.22,28.83,26.28,10.33,53.66
$GC,31,-1.80,-487.5,1764,1956,2782,4094,0.1,0.0,1,40,0.00,1.17,-2.45,0.000,16900,0.000,1.220,1764,1522,3053,3053,4094,0,0,0,0,0,0,26.58,23.81,26.55,10.41,54.29
$GC,196,-1.80,-487.5,1764,1522,3059,4094,24.0,-16.2,14,200,0.00,1.02,0.00,0.000,1030,0.000,0.028,1764,1956,3059,3059,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.48,53.70
$GC,274,-1.80,-487.5,1764,1957,3061,4094,35.6,-12.1,20,277,0.00,1.10,0.00,0.000,260,0.000,0.047,1765,2376,3061,3061,4094,0,0,0,0,0,0,26.65,26.07,26.67,10.45,53.22
$GC,349,-1.80,-487.5,1764,2376,3062,4094,46.0,-13.5,26,353,0.00,1.02,0.00,0.000,1030,0.000,0.031,1764,1963,3063,3063,4094,0,0,0,0,0,0,26.27,26.22,26.29,10.43,52.40
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,435,-0.45,0.0,1764,2141,3065,4094,55.9,-12.8,32,471,4.50,0.00,28.95,1.252,10244,0.057,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.09,25.06,23.67,10.42,52.87
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,479,1.80,487.5,2185,2141,2484,4094,60.3,0.0,36,520,7.35,1.12,28.48,1.239,10500,0.029,0.051,2898,2563,1916,1916,4094,0,0,0,0,0,0,25.63,25.57,23.39,10.30,51.29
$GC,545,1.81,491.6,2898,2562,1915,4094,55.7,10.7,42,554,0.00,1.08,2.15,0.109,9222,0.000,0.025,2899,2135,1911,1911,4095,0,0,0,0,0,0,25.48,25.45,23.15,10.18,50.51
$GC,617,1.81,491.6,2898,2135,1909,4095,45.4,14.2,48,621,0.00,1.08,0.00,0.000,516,0.000,0.048,2899,1721,1909,1909,4094,0,0,0,0,0,0,26.08,25.60,26.10,10.17,50.15
$GC,728,1.81,491.6,2898,1721,1906,4094,30.3,13.6,57,732,0.00,0.98,0.00,0.000,1030,0.000,0.030,2899,2124,1906,1906,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.17,51.33
$GC,804,1.81,491.6,2898,2124,1903,4094,21.5,11.6,63,808,0.00,1.17,0.00,0.000,260,0.000,0.053,2899,2562,1903,1903,4094,0,0,0,0,0,0,26.45,25.86,26.46,10.20,52.08
$GC,844,1.81,491.6,2898,2562,1902,4094,16.3,12.9,66,847,0.00,1.08,0.00,0.000,1030,0.000,0.031,2899,2134,1902,1902,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.21,53.15
$GC,919,1.81,491.6,2898,2133,1900,4094,6.4,15.2,72,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2134,1900,1900,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.21,53.89
$STATE,949,end climb,FINISH_DEPTH_REACHED
$STATE,949,begin subsurface finish
$FINISH1,1.7,1.024537,74
$GC,964,0.11,74.1,2898,2126,1898,4094,1.7,13.7,75,980,5.18,1.23,-4.62,0.000,20996,0.023,1.223,2378,1714,2402,2402,4094,0,0,0,0,0,0,26.20,23.82,26.26,10.21,53.93
$FINISH2,0.0
$STATE,981,end subsurface finish,CONTROL_FINISHED_OK
$STATE,981,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,240917,200807
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.68
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.15,100.926
$10V_AH,10.13,84.522
$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,23.100,12.925,59.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,269.481,401.682,88.585,177.095,107.986,0.000,223.952,0.000,184.879,0.000,0.542,0.000
$DEVICE_MAMPS,56.610,1223.235,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333924
$DATA_FILE_SIZE,3916,77
$CAP_FILE_SIZE,20844,0
$CFSIZE,1024409600,894681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240917,211830,5756.784,-16907.998,1,0.7,9,9.2,0.7,138.9,12,4.9