version: 66.13
glider: 401
mission: 22
dive: 2518
start: 9 8 117 19 6 11
data:
$ID,401
$MISSION,22
$DIVE,2518
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,080917,185437,5947.5522,-17129.2656,4,0.8,19,8.1,0.0,51.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-40.5
$GPS2,080917,190532,5947.5786,-17129.2051,6,0.8,19,8.1,0.4,286.6,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W24S
$TGT_LATLONG,5935.700,-17055.381
$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,116.7,38588,-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,-487.5,238,1957,1835,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.091,0.000,953,1957,1835,1835,4095,0,0,0,0,0,0,26.33,28.83,28.83,10.26,52.40
$GC,29,-1.80,-487.5,953,1956,1835,4095,0.8,0.0,1,56,8.73,1.23,-11.40,0.000,18948,0.051,1.232,1753,1523,3055,3055,4095,0,0,0,0,0,0,25.89,23.73,25.94,10.26,52.67
$GC,232,-1.80,-487.5,1752,1523,3061,4095,25.9,-15.4,29,241,0.00,1.02,0.00,0.000,1030,0.000,0.026,1753,1959,3061,3061,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.50,51.57
$GC,281,-1.80,-487.5,1752,1960,3062,4094,32.5,-13.0,35,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1961,3062,3062,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.45,50.27
$GC,331,-1.80,-487.5,1753,1960,3063,4095,39.2,-14.5,41,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1960,3063,3063,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.43,48.97
$GC,381,-1.80,-487.5,1752,1960,3064,4095,46.6,-14.8,47,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1960,3065,3065,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,48.11
$GC,431,-1.80,-487.5,1752,1960,3066,4095,54.2,-15.0,53,441,0.00,1.08,0.00,0.000,260,0.000,0.046,1753,2372,3066,3066,4094,0,0,0,0,0,0,26.57,26.08,26.58,10.40,47.59
$STATE,449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,463,-0.45,0.0,1753,2110,3067,4094,58.0,-15.2,55,499,4.68,0.00,28.73,1.311,10244,0.054,0.000,2186,2107,2484,2484,4095,0,0,0,0,0,0,26.08,25.15,23.87,10.40,47.51
$STATE,500,end apogee,CONTROL_FINISHED_OK
$STATE,500,begin climb
$GC,506,1.80,487.5,2185,2106,2484,4095,62.4,0.0,59,552,7.60,0.93,28.20,1.281,10756,0.030,0.042,2903,1740,1919,1919,4094,0,0,0,0,0,0,25.53,25.46,23.52,10.28,46.49
$GC,643,1.80,487.5,2903,1739,1915,4094,50.4,12.5,76,653,0.00,0.98,0.03,0.004,9222,0.000,0.028,2903,2134,1915,1915,4095,0,0,0,0,0,0,25.60,25.60,25.63,10.13,45.70
$GC,693,1.80,487.5,2902,2133,1914,4095,43.5,12.5,82,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1914,1914,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.13,46.92
$GC,742,1.80,487.5,2903,2133,1913,4094,37.2,13.1,88,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1913,1913,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,46.25
$GC,791,1.80,487.5,2903,2134,1911,4094,30.6,13.8,94,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1911,1911,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.12,46.85
$GC,840,1.80,487.5,2903,2134,1910,4094,23.9,13.8,100,849,0.00,1.05,0.00,0.000,516,0.000,0.044,2903,1735,1910,1910,4094,0,0,0,0,0,0,26.29,25.84,26.30,10.15,47.44
$GC,993,1.80,487.5,2903,1735,1906,4094,7.1,10.8,122,1003,0.00,0.95,0.00,0.000,1030,0.000,0.030,2903,2129,1905,1905,4095,0,0,0,0,0,0,26.13,26.10,26.16,10.21,52.40
$STATE,1037,end climb,FINISH_DEPTH_REACHED
$STATE,1037,begin subsurface finish
$FINISH1,1.4,1.024277,92
$GC,1051,0.14,92.2,2903,2132,1904,4094,1.4,11.5,128,1069,5.50,0.00,-4.30,0.000,20486,0.045,0.000,2386,2137,2380,2380,4094,0,0,0,0,0,0,26.12,25.50,26.19,10.22,52.40
$FINISH2,0.1
$STATE,1070,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1070,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,174909
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.44
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.52,73.629
$10V_AH,9.98,66.402
$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,34.975,7.825,56.950,0.000,0.000,25.400,22.052,294.202,0.000,0.000,21.174,369.046,0.407,107.267,837.068,412.975,0.000,322.692,0.000,321.208,0.000,0.544,0.000
$DEVICE_MAMPS,91.035,1231.650,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.776,353.224,279.490,414.362,540.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,10827,130
$CAP_FILE_SIZE,26674,0
$CFSIZE,1024409600,895746048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,190532,5947.579,-17129.205,6,0.8,19,8.1,0.4,286.6,10,4.9