version: 66.13
glider: 401
mission: 22
dive: 2609
start: 9 10 117 8 33 31
data:
$ID,401
$MISSION,22
$DIVE,2609
$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,24
$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
$GPS1,100917,081248,5940.6704,-17108.0273,8,0.8,19,8.3,0.6,69.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-4.0
$GPS2,100917,081248,5940.6704,-17108.0273,8,0.8,19,8.3,0.6,69.9,10,5.0
$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,119.5,15008,-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,-487.5,2380,1949,2386,4092,0.0,0.0,0,20,5.68,0.00,0.00,0.000,4097,0.022,0.000,1821,1949,2385,2385,4094,0,0,0,0,0,0,26.49,28.83,28.83,10.34,52.75
$GC,27,-1.80,-487.5,1820,1949,2385,4094,0.1,0.0,1,42,0.50,1.20,-6.25,0.000,20996,0.034,1.234,1763,1527,3055,3055,4094,0,0,0,0,0,0,26.20,23.91,26.22,10.33,52.55
$GC,280,-1.80,-487.5,1762,1527,3062,4094,34.2,-13.1,40,286,0.00,1.00,0.00,0.000,1030,0.000,0.027,1763,1954,3062,3062,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.42,51.77
$GC,322,-1.80,-487.5,1763,1954,3062,4095,39.8,-13.2,46,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3063,3063,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.40,50.78
$GC,364,-1.80,-487.5,1763,1954,3064,4095,45.5,-13.5,52,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3064,3064,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.40,50.98
$GC,406,-1.80,-487.5,1763,1954,3065,4094,51.3,-14.2,58,412,0.00,1.10,0.00,0.000,260,0.000,0.047,1763,2373,3065,3065,4095,0,0,0,0,0,0,26.60,26.12,26.62,10.38,49.72
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,430,begin apogee
$GC,444,-0.45,0.0,1763,2118,3066,4094,55.6,-13.8,62,480,4.57,0.00,28.58,1.258,10244,0.054,0.000,2184,2117,2484,2484,4094,0,0,0,0,0,0,26.13,25.21,23.96,10.38,49.21
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,488,1.80,487.5,2184,2117,2484,4094,59.6,0.0,68,529,7.62,0.00,28.25,1.235,11270,0.031,0.000,2900,2117,1915,1915,4094,0,0,0,0,0,0,25.68,25.88,23.57,10.26,49.09
$GC,565,1.80,487.5,2900,2117,1915,4094,53.9,12.9,80,572,0.00,1.00,0.00,0.000,516,0.000,0.047,2900,1735,1915,1915,4094,0,0,0,0,0,0,25.67,25.29,25.67,10.13,47.44
$GC,680,1.80,487.5,2900,1734,1911,4094,39.1,12.9,98,686,0.00,0.95,0.00,0.000,1030,0.000,0.030,2900,2121,1911,1911,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.11,47.71
$GC,723,1.80,487.5,2900,2121,1910,4094,33.8,12.3,104,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2121,1910,1910,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,47.91
$GC,764,1.80,487.5,2900,2121,1908,4094,28.4,13.0,110,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2121,1909,1909,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.10,48.18
$GC,806,1.80,487.5,2900,2120,1908,4094,23.2,12.3,116,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2121,1908,1908,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.13,49.37
$GC,848,1.83,508.0,2900,2121,1907,4094,18.7,10.5,122,856,0.00,1.02,2.62,0.232,8708,0.000,0.045,2900,1733,1891,1891,4094,0,0,0,0,0,0,26.36,25.19,23.87,10.16,50.59
$GC,1005,1.85,521.2,2900,1733,1887,4094,2.9,10.6,146,1014,0.08,0.93,2.45,0.149,11270,0.059,0.031,2916,2114,1874,1874,4094,0,0,0,0,0,0,26.06,26.10,24.11,10.19,53.85
$STATE,1019,end climb,FINISH_DEPTH_REACHED
$STATE,1019,begin subsurface finish
$FINISH1,0.1,1.014204,0
$GC,1034,0.00,0.0,2915,2121,1874,4095,0.1,10.8,148,1052,5.85,0.00,-5.55,0.000,20486,0.022,0.000,2339,2117,2490,2490,4094,0,0,0,0,0,0,26.24,25.56,26.25,10.20,53.58
$FINISH2,0.1
$STATE,1053,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,065754
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.33
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.57,76.299
$10V_AH,10.30,68.517
$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,24.300,8.275,61.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,397.439,251.420,120.326,218.635,128.683,0.000,281.273,0.000,228.699,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1233.945,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,10796,151
$CAP_FILE_SIZE,23827,0
$CFSIZE,1024409600,891273216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,28.47,0x236164,0,24
$GPS,100917,081248,5940.670,-17108.027,8,0.8,19,8.3,0.6,69.9,10,5.0