version: 66.13
glider: 401
mission: 22
dive: 2249
start: 9 4 117 8 24 48
data:
$ID,401
$MISSION,22
$DIVE,2249
$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,26
$R_STBD_OVSHOOT,41
$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
$GPS1,040917,080455,6004.5273,-17241.8887,8,0.9,36,7.5,0.2,208.6,9,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-1.3
$GPS2,040917,080455,6004.5273,-17241.8887,8,0.9,36,7.5,0.2,208.6,9,4.3
$SPEED_LIMITS,0.231,0.398
$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,116.2,35568,-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,6,begin dive
$GC,12,-1.80,-487.5,2391,1970,2367,4092,0.0,0.0,0,30,6.35,0.00,-6.28,0.000,20486,0.020,0.000,1767,1970,3056,3056,4095,0,0,0,0,0,0,26.17,24.40,26.20,10.39,51.10
$GC,36,-1.80,-487.5,1767,1970,3056,4095,0.1,-0.8,3,43,0.00,1.15,0.00,0.000,516,0.000,0.054,1767,1522,3056,3056,4095,0,0,0,0,0,0,26.38,25.96,26.39,10.55,51.02
$GC,150,-1.80,-487.5,1766,1522,3060,4095,16.8,-17.1,21,156,0.00,0.98,0.00,0.000,1030,0.000,0.026,1767,1944,3060,3060,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.55,51.06
$GC,192,-1.80,-487.5,1766,1944,3061,4095,23.8,-16.7,27,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3061,3061,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.54,50.86
$GC,233,-1.80,-487.5,1766,1944,3062,4094,30.8,-17.0,33,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3063,3063,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.53,50.90
$GC,274,-1.80,-487.5,1766,1944,3064,4094,37.5,-15.9,39,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1943,3064,3064,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.52,51.06
$GC,315,-1.80,-487.5,1766,1944,3065,4095,44.4,-16.4,45,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3065,3065,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.51,50.15
$GC,355,-1.80,-487.5,1766,1944,3067,4094,51.4,-17.0,51,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3067,3067,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.50,50.03
$STATE,373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,373,begin apogee
$GC,386,-0.45,0.0,1767,2137,3067,4094,55.3,-17.0,54,422,4.50,0.00,28.12,1.237,10244,0.055,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.14,25.36,24.25,10.49,49.37
$STATE,423,end apogee,CONTROL_FINISHED_OK
$STATE,423,begin climb
$GC,428,1.80,487.5,2184,2137,2484,4094,59.5,0.0,60,470,7.55,0.00,27.83,1.218,11270,0.030,0.000,2899,2138,1915,1915,4094,0,0,0,0,0,0,25.70,25.88,23.91,10.37,49.17
$GC,505,1.80,487.5,2899,2138,1914,4094,54.2,10.9,72,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2138,1915,1915,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.25,47.28
$GC,546,1.80,487.5,2899,2137,1913,4094,49.1,12.5,78,553,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1708,1914,1914,4095,0,0,0,0,0,0,25.89,25.51,25.90,10.24,47.32
$GC,766,1.86,523.1,2899,1708,1907,4095,24.0,10.2,113,774,0.10,0.98,3.47,0.409,11270,0.051,0.027,2920,2116,1873,1873,4095,0,0,0,0,0,0,25.98,26.03,24.41,10.25,49.96
$GC,809,1.86,523.1,2919,2115,1872,4095,19.1,11.8,119,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2116,1872,1872,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.25,50.00
$GC,851,1.86,523.1,2919,2115,1871,4094,14.4,10.9,125,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2116,1871,1871,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.27,50.63
$GC,891,1.86,523.1,2919,2115,1869,4094,9.7,11.2,131,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2116,1869,1869,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.28,51.06
$GC,933,1.87,534.7,2919,2115,1868,4094,5.2,10.6,137,939,0.00,0.00,2.28,0.107,8198,0.000,0.000,2920,2116,1859,1859,4094,0,0,0,0,0,0,26.47,25.43,24.49,10.28,51.61
$STATE,957,end climb,FINISH_DEPTH_REACHED
$STATE,957,begin subsurface finish
$FINISH1,1.9,1.024115,103
$GC,970,0.16,103.5,2919,2115,1858,4094,1.9,11.4,141,984,5.40,0.00,-4.47,0.000,20486,0.023,0.000,2389,2117,2370,2370,4094,0,0,0,0,0,0,26.20,24.49,26.25,10.28,51.69
$FINISH2,-0.0
$STATE,985,end subsurface finish,CONTROL_FINISHED_OK
$STATE,985,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,040917,075745
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.48
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.91,65.908
$10V_AH,10.37,60.320
$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,23.900,5.175,61.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,373.049,225.231,128.212,208.307,112.017,0.000,284.725,0.000,217.325,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,53.550,1237.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10847,143
$CAP_FILE_SIZE,23556,0
$CFSIZE,1024409600,908967936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,080455,6004.527,-17241.889,8,0.9,36,7.5,0.2,208.6,9,4.3