version: 66.13
glider: 401
mission: 22
dive: 2343
start: 9 5 117 21 47 19
data:
$ID,401
$MISSION,22
$DIVE,2343
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,050917,210854,5956.6748,-17219.5215,5,0.9,18,7.7,0.2,276.5,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-0.9
$GPS2,050917,210854,5956.6748,-17219.5215,5,0.9,18,7.7,0.2,276.5,9,4.8
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,103.1,52384,-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,-487.5,2389,1944,2365,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1832,1944,2364,2364,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.36,53.30
$GC,25,-1.80,-487.5,1832,1937,2365,4094,0.1,0.0,1,38,0.47,0.00,-6.55,0.000,20486,0.035,0.000,1777,1941,3057,3057,4095,0,0,0,0,0,0,26.14,24.49,26.17,10.36,53.54
$GC,74,-1.80,-487.5,1776,1941,3057,4095,0.3,-1.3,8,80,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1941,3057,3057,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.50,53.42
$GC,115,-1.80,-487.5,1776,1941,3058,4094,6.0,-15.3,14,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1941,3058,3058,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.51,53.18
$GC,156,-1.80,-487.5,1776,1941,3059,4094,12.8,-16.5,20,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1941,3059,3059,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.51,53.18
$GC,197,-1.80,-487.5,1776,1941,3061,4095,19.7,-18.2,26,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1941,3061,3061,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.51,53.03
$GC,238,-1.80,-487.5,1776,1941,3062,4095,27.1,-17.6,32,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1941,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.50,52.63
$GC,279,-1.80,-487.5,1776,1941,3063,4094,32.8,-12.9,38,286,0.00,1.08,0.00,0.000,516,0.000,0.052,1777,1521,3063,3063,4095,0,0,0,0,0,0,26.53,26.04,26.55,10.45,52.59
$GC,357,-1.80,-487.5,1776,1521,3065,4095,43.2,-13.8,50,364,0.00,1.05,0.00,0.000,1030,0.000,0.027,1777,1966,3065,3065,4095,0,0,0,0,0,0,26.29,26.25,26.29,10.41,50.07
$GC,399,-1.80,-487.5,1776,1966,3066,4095,48.9,-13.7,56,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1966,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.41,50.35
$GC,440,-1.80,-487.5,1776,1966,3067,4094,54.5,-14.0,62,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1966,3067,3067,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.39,49.13
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,464,-0.45,0.0,1776,2139,3068,4095,56.9,-14.3,64,500,4.40,0.00,28.40,1.266,10244,0.053,0.000,2185,2139,2484,2484,4095,0,0,0,0,0,0,26.14,25.28,24.13,10.39,49.13
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,501,begin climb
$GC,507,1.80,487.5,2184,2139,2484,4095,60.4,0.0,70,548,7.60,0.00,27.95,1.241,11270,0.030,0.000,2902,2140,1916,1916,4094,0,0,0,0,0,0,25.67,25.86,23.77,10.27,48.42
$GC,584,1.80,487.5,2901,2140,1915,4094,54.5,11.6,82,591,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1712,1915,1915,4094,0,0,0,0,0,0,25.65,25.29,25.66,10.15,47.44
$GC,728,1.80,487.5,2901,1711,1911,4094,35.6,13.1,105,735,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2120,1910,1910,4094,0,0,0,0,0,0,25.83,25.81,25.86,10.12,47.75
$GC,770,1.80,487.5,2901,2119,1909,4094,30.1,13.2,111,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1909,1909,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,48.26
$GC,811,1.90,548.9,2901,2119,1908,4094,25.5,9.9,117,819,0.20,0.00,4.88,0.579,10246,0.046,0.000,2933,2120,1842,1842,4094,0,0,0,0,0,0,26.04,25.38,24.33,10.16,48.89
$GC,855,1.92,563.8,2932,2119,1842,4094,21.0,10.6,123,863,0.00,1.08,2.62,0.237,8708,0.000,0.045,2933,1713,1826,1826,4094,0,0,0,0,0,0,26.26,25.44,24.28,10.17,50.47
$GC,976,1.92,563.8,2932,1713,1822,4094,6.6,10.8,142,983,0.00,1.00,0.00,0.000,1030,0.000,0.029,2933,2124,1822,1822,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.20,53.78
$STATE,1012,end climb,SURFACE_DEPTH_REACHED
$STATE,1012,begin surface coast
$FINISH,-0.0,1.001216
$STATE,1025,end surface coast,CONTROL_FINISHED_OK
$STATE,1025,begin surface
$SM_CCo,1134,0.00,0.000,0,0,1820,570.97
$SM_GC,0.78,28.12,0.45,0.00,0.020,0.047,0.000,230,1948,1820,-6.59,1.37,570.97,0,0,0,0,0,0,25.94,26.08,26.03
$IRIDIUM_FIX,5953.06,-17035.79,050917,205840
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.13
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.77,68.686
$10V_AH,10.33,62.440
$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,46.425,7.625,63.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,402.265,298.968,153.173,218.889,131.290,0.000,315.613,0.000,227.188,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,52.020,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330636
$DATA_FILE_SIZE,10791,150
$CAP_FILE_SIZE,27290,0
$CFSIZE,1024409600,904314880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,220717,5956.413,-17219.271,4,0.8,18,7.7,0.3,277.0,11,4.9