version: 66.13
glider: 401
mission: 22
dive: 2225
start: 9 3 117 22 51 0
data:
$ID,401
$MISSION,22
$DIVE,2225
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,30
$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,2
$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
$GPS1,030917,223019,6005.5425,-17248.2188,10,0.8,19,7.5,0.9,281.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.5
$GPS2,030917,223019,6005.5425,-17248.2188,10,0.8,19,7.5,0.9,281.3,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$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,113.8,41539,-11.5,-10.526,-14.94,6951
$D_GRID,60
$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,6,begin dive
$GC,12,-1.78,-487.5,2394,1955,2366,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.020,0.000,1842,1955,2366,2366,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.38,51.85
$GC,25,-1.78,-487.5,1842,1955,2366,4094,0.1,0.0,1,39,0.50,1.15,-6.32,0.000,20996,0.041,1.237,1790,1522,3054,3054,4095,0,0,0,0,0,0,26.08,24.23,26.12,10.38,52.04
$GC,215,-1.78,-487.5,1789,1521,3059,4095,24.6,-15.1,31,221,0.00,1.00,0.00,0.000,1030,0.000,0.026,1790,1952,3059,3059,4095,0,0,0,0,0,0,26.22,26.19,26.23,10.54,51.37
$GC,257,-1.78,-487.5,1788,1951,3060,4095,30.8,-14.1,37,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1952,3060,3060,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.52,51.69
$GC,297,-1.78,-487.5,1789,1952,3062,4095,36.6,-13.7,43,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1952,3061,3061,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.51,50.98
$GC,338,-1.78,-487.5,1789,1952,3062,4095,42.4,-14.5,49,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1952,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.50,50.55
$GC,379,-1.78,-487.5,1789,1952,3063,4094,48.1,-13.7,55,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3063,3063,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.49,50.27
$GC,420,-1.78,-487.5,1789,1953,3064,4094,53.0,-12.3,61,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3063,3063,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.47,50.03
$GC,461,-1.78,-487.5,1789,1953,3066,4095,58.4,-13.3,67,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3066,3066,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.46,49.13
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,484,-0.45,0.0,1790,2138,3066,4094,60.5,-13.3,69,520,4.10,0.00,28.23,1.267,10244,0.030,0.000,2190,2139,2483,2483,4095,0,0,0,0,0,0,26.27,25.34,24.22,10.45,49.13
$STATE,521,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,527,1.78,487.5,2190,2139,2483,4095,60.8,0.0,75,568,7.35,0.00,27.83,1.233,11270,0.025,0.000,2892,2139,1914,1914,4095,0,0,0,0,0,0,25.69,25.86,23.84,10.33,48.74
$GC,603,1.78,487.5,2891,2138,1914,4095,55.1,11.8,87,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2139,1914,1914,4095,0,0,0,0,0,0,25.65,25.67,25.67,10.20,46.69
$GC,645,1.78,487.5,2892,2139,1911,4095,49.7,12.9,93,652,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1709,1913,1913,4094,0,0,0,0,0,0,25.85,25.46,25.86,10.20,47.08
$GC,765,1.78,487.5,2892,1709,1909,4094,35.0,12.3,112,771,0.00,1.00,0.00,0.000,1030,0.000,0.028,2892,2120,1909,1909,4094,0,0,0,0,0,0,25.88,25.84,25.90,10.21,48.77
$GC,806,1.78,487.5,2892,2119,1908,4094,30.0,11.9,118,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.21,48.77
$GC,847,1.78,487.5,2892,2119,1907,4094,25.2,12.0,124,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1907,1907,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.23,49.80
$GC,888,1.80,500.3,2892,2119,1906,4095,20.8,10.3,130,895,0.00,0.00,2.17,0.095,8198,0.000,0.000,2892,2120,1900,1900,4094,0,0,0,0,0,0,26.33,25.26,24.17,10.24,50.78
$GC,930,1.80,500.3,2892,2119,1899,4094,16.4,10.7,136,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1899,1899,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.25,50.98
$GC,971,1.83,524.3,2892,2119,1898,4094,12.2,10.2,142,979,0.10,0.00,3.10,0.302,10246,0.076,0.000,2910,2120,1871,1871,4094,0,0,0,0,0,0,26.18,25.45,24.48,10.26,51.41
$GC,1014,1.85,538.1,2909,2119,1870,4094,7.7,10.3,148,1022,0.00,1.08,2.53,0.176,8708,0.000,0.044,2910,1708,1855,1855,4094,0,0,0,0,0,0,26.41,25.58,24.56,10.26,52.12
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,1.8,1.024097,105
$GC,1078,0.16,104.7,2909,2144,1853,4094,1.8,10.7,156,1092,5.28,0.00,-4.53,0.000,20486,0.023,0.000,2390,2152,2369,2369,4094,0,0,0,0,0,0,26.17,24.44,26.21,10.26,52.32
$FINISH2,0.1
$STATE,1093,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1093,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,211154
$TT8_MAMPS,0.025466,0.101864
$HUMID,52.75
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.84,65.237
$10V_AH,10.36,59.775
$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,22.950,7.425,63.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,412.514,248.918,136.930,230.365,125.511,0.000,308.424,0.000,238.451,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,1237.005,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,10728,158
$CAP_FILE_SIZE,27140,0
$CFSIZE,1024409600,910147584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,223019,6005.542,-17248.219,10,0.8,19,7.5,0.9,281.3,11,4.9