version: 66.13
glider: 401
mission: 22
dive: 2353
start: 9 6 117 1 55 44
data:
$ID,401
$MISSION,22
$DIVE,2353
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,060917,014022,5956.4004,-17219.1172,5,0.9,17,7.7,0.0,306.2,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-42.3
$GPS2,060917,015505,5956.4805,-17219.3301,14,0.8,21,7.7,0.4,321.3,11,5.0
$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,102.8,52090,-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,11,-1.80,-487.5,238,1935,1903,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.105,0.000,700,1931,1903,1903,4095,0,0,0,0,0,0,26.29,28.83,28.83,10.29,51.73
$GC,25,-1.80,-487.5,700,1932,1903,4095,0.8,0.0,1,55,11.48,0.00,-10.95,0.000,18950,0.050,0.000,1755,1934,3057,3057,4094,0,0,0,0,0,0,25.94,24.30,25.97,10.29,51.37
$GC,91,-1.80,-487.5,1754,1934,3057,4094,1.7,-6.9,11,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3057,3057,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.53,52.04
$GC,132,-1.80,-487.5,1754,1934,3059,4094,8.3,-16.6,17,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3059,3059,4094,0,0,0,0,0,0,26.30,26.31,26.31,10.55,51.33
$GC,173,-1.80,-487.5,1754,1934,3060,4094,15.9,-18.6,23,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3060,3060,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.55,51.10
$GC,214,-1.80,-487.5,1754,1934,3062,4094,22.9,-16.9,29,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3062,3062,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.55,50.94
$GC,255,-1.80,-487.5,1754,1934,3062,4095,29.9,-15.8,35,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1935,3062,3062,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.51,50.27
$GC,296,-1.80,-487.5,1754,1934,3064,4095,35.4,-13.0,41,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3064,3064,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.48,49.76
$GC,338,-1.80,-487.5,1754,1935,3064,4094,41.2,-14.1,47,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3065,3065,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.45,48.58
$GC,379,-1.80,-487.5,1754,1934,3066,4094,47.1,-15.3,53,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.43,47.59
$GC,420,-1.80,-487.5,1754,1935,3067,4095,52.8,-13.8,59,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1934,3067,3067,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.42,47.67
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,444,-0.45,0.0,1755,2144,3068,4094,55.3,-14.7,61,480,4.68,0.00,28.40,1.267,10246,0.054,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.05,25.22,24.06,10.42,46.81
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,487,1.80,487.5,2186,2144,2483,4094,59.4,0.0,67,529,7.55,1.17,28.00,1.235,10756,0.030,0.043,2900,1714,1916,1916,4095,0,0,0,0,0,0,25.62,24.84,23.70,10.30,46.45
$GC,646,1.80,487.5,2899,1713,1912,4095,42.4,13.0,92,653,0.00,1.05,0.00,0.000,1030,0.000,0.028,2899,2138,1912,1912,4095,0,0,0,0,0,0,25.68,25.65,25.71,10.15,46.57
$GC,688,1.80,487.5,2899,2137,1911,4095,37.0,12.9,98,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2137,1911,1911,4094,0,0,0,0,0,0,26.08,26.08,26.08,10.14,45.98
$GC,729,1.80,487.5,2899,2137,1910,4094,31.4,13.7,104,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2138,1909,1909,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.14,46.45
$GC,771,1.80,487.5,2899,2137,1908,4095,26.2,12.7,110,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2138,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.15,47.28
$GC,812,1.80,487.5,2899,2137,1907,4094,21.6,10.8,116,818,0.00,1.10,0.00,0.000,516,0.000,0.044,2899,1721,1907,1907,4094,0,0,0,0,0,0,26.28,25.84,26.29,10.19,48.70
$GC,925,1.80,487.5,2899,1720,1904,4094,9.2,12.0,134,932,0.00,1.00,0.00,0.000,1030,0.000,0.028,2899,2135,1904,1904,4094,0,0,0,0,0,0,26.09,26.06,26.12,10.23,52.24
$GC,968,1.80,487.5,2899,2135,1902,4094,4.3,11.4,140,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2135,1903,1903,4093,0,0,0,0,0,0,26.43,26.45,26.45,10.23,52.75
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,1.6,1.024185,99
$GC,999,0.15,98.6,2899,2137,1902,4094,1.6,11.7,143,1012,5.25,0.00,-4.25,0.000,20486,0.027,0.000,2385,2137,2374,2374,4094,0,0,0,0,0,0,26.18,24.41,26.22,10.24,52.67
$FINISH2,0.1
$STATE,1013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060917,014657
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.95
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,23.70,68.988
$10V_AH,10.17,62.669
$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,34.575,4.850,56.400,0.000,0.000,75.036,98.180,309.106,0.000,0.000,22.418,382.671,301.699,148.582,645.109,420.501,0.000,320.639,0.000,221.988,0.000,0.543,0.000
$DEVICE_MAMPS,104.805,44.370,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10764,145
$CAP_FILE_SIZE,31236,0
$CFSIZE,1024409600,903823360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060917,015505,5956.480,-17219.330,14,0.8,21,7.7,0.4,321.3,11,5.0