version: 66.13
glider: 401
mission: 22
dive: 2522
start: 9 8 117 20 47 8
data:
$ID,401
$MISSION,22
$DIVE,2522
$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,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
$GPS1,080917,202712,5947.3579,-17127.5977,6,0.8,15,8.1,0.4,220.8,10,4.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.6
$GPS2,080917,202712,5947.3579,-17127.5977,6,0.8,15,8.1,0.4,220.8,10,4.9
$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,117.5,37121,-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,-487.5,2382,1987,2388,4092,0.0,0.0,0,23,6.38,0.00,-2.05,0.000,20482,0.025,0.000,1764,1987,2610,2610,4094,0,0,0,0,0,0,26.20,28.83,26.27,10.35,52.99
$GC,30,-1.80,-487.5,1764,1988,2610,4094,0.1,0.0,1,40,0.00,1.27,-4.20,0.000,16900,0.000,1.232,1764,1524,3054,3054,4095,0,0,0,0,0,0,26.52,24.00,26.53,10.38,53.03
$GC,229,-1.80,-487.5,1763,1522,3060,4095,27.1,-16.6,29,238,0.00,1.00,0.00,0.000,1030,0.000,0.026,1764,1953,3060,3060,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.47,53.07
$GC,279,-1.80,-487.5,1763,1953,3061,4095,34.5,-13.2,35,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3061,3061,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.43,52.36
$GC,326,-1.80,-487.5,1763,1953,3062,4094,41.1,-13.8,41,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3062,3062,4095,0,0,0,0,0,0,26.61,26.62,26.62,10.41,50.31
$GC,375,-1.80,-487.5,1763,1953,3063,4095,47.9,-14.2,47,385,0.00,1.10,0.00,0.000,260,0.000,0.046,1764,2373,3064,3064,4095,0,0,0,0,0,0,26.63,26.13,26.64,10.39,49.37
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,441,-0.45,0.0,1764,2114,3065,4094,55.8,-14.2,54,477,4.55,0.00,28.58,1.287,10244,0.054,0.000,2186,2113,2484,2484,4095,0,0,0,0,0,0,26.15,25.23,23.98,10.38,49.09
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,484,1.80,487.5,2185,2113,2484,4095,60.2,0.0,58,529,7.60,0.00,28.30,1.257,11270,0.030,0.000,2901,2113,1916,1916,4094,0,0,0,0,0,0,25.68,25.89,23.61,10.26,48.03
$GC,571,1.80,487.5,2900,2113,1915,4094,54.1,12.1,68,580,0.00,0.98,0.00,0.000,516,0.000,0.045,2901,1737,1915,1915,4094,0,0,0,0,0,0,25.70,25.33,25.72,10.13,46.53
$GC,659,1.80,487.5,2900,1736,1913,4094,42.4,12.8,80,669,0.00,0.95,0.00,0.000,1030,0.000,0.030,2901,2124,1913,1913,4095,0,0,0,0,0,0,25.78,25.72,25.76,10.12,47.32
$GC,709,1.80,487.5,2900,2124,1911,4095,36.0,12.8,86,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1911,1911,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.10,47.67
$GC,758,1.80,487.5,2900,2124,1909,4094,29.6,13.0,92,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1909,1909,4095,0,0,0,0,0,0,26.22,26.25,26.24,10.11,47.20
$GC,806,1.80,487.5,2900,2124,1908,4095,23.5,11.9,98,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1908,1908,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.15,48.54
$GC,855,1.86,522.8,2900,2124,1907,4094,18.4,10.3,104,865,0.10,1.02,3.38,0.376,10756,0.075,0.044,2921,1736,1874,1874,4094,0,0,0,0,0,0,26.14,25.33,24.09,10.18,50.43
$STATE,1004,end climb,FINISH_DEPTH_REACHED
$STATE,1004,begin subsurface finish
$FINISH1,1.3,1.024325,89
$GC,1020,0.13,88.8,2921,2155,1870,4094,1.3,12.8,125,1037,5.50,0.00,-4.50,0.000,20486,0.021,0.000,2378,2162,2385,2385,4094,0,0,0,0,0,0,26.21,25.47,26.25,10.21,53.66
$FINISH2,0.4
$STATE,1038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,202113
$TT8_MAMPS,0.026964,0.272636
$HUMID,53.11
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.61,73.754
$10V_AH,9.99,66.495
$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,24.125,8.375,60.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,357.206,0.000,95.954,529.160,119.133,0.000,289.906,0.000,312.133,0.000,0.544,0.000
$DEVICE_MAMPS,74.970,1232.415,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.951,345.106,273.020,404.851,527.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330656
$DATA_FILE_SIZE,10813,127
$CAP_FILE_SIZE,21608,0
$CFSIZE,1024409600,895549440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,202712,5947.358,-17127.598,6,0.8,15,8.1,0.4,220.8,10,4.9