version: 66.13
glider: 401
mission: 22
dive: 2802
start: 9 13 117 16 18 22
data:
$ID,401
$MISSION,22
$DIVE,2802
$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,24
$R_STBD_OVSHOOT,31
$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,4
$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
$GPS1,130917,153821,5913.5952,-17033.7402,6,0.8,16,8.6,0.5,218.8,11,4.6
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.0
$GPS2,130917,153821,5913.5952,-17033.7402,6,0.8,16,8.6,0.5,218.8,11,4.6
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,147.5,86009,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2381,1945,2386,4092,0.0,0.0,0,30,6.32,0.00,-6.50,0.000,20486,0.020,0.000,1761,1945,3056,3056,4095,0,0,0,0,0,0,26.31,24.30,26.35,10.33,54.01
$GC,37,-1.80,-487.5,1761,1942,3056,4095,0.0,-0.4,2,47,0.00,1.10,0.00,0.000,516,0.000,0.055,1762,1517,3057,3057,4095,0,0,0,0,0,0,26.49,25.99,26.50,10.48,54.41
$GC,308,-1.80,-487.5,1760,1517,3064,4095,39.2,-14.9,41,317,0.00,1.02,0.00,0.000,1030,0.000,0.028,1761,1953,3064,3064,4095,0,0,0,0,0,0,26.33,26.32,26.36,10.42,52.16
$GC,358,-1.80,-487.5,1760,1953,3065,4095,46.8,-15.7,47,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3065,3065,4094,0,0,0,0,0,0,26.67,26.69,26.69,10.40,51.18
$GC,407,-1.80,-487.5,1760,1953,3067,4094,54.4,-15.9,53,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3067,3067,4095,0,0,0,0,0,0,26.70,26.70,26.70,10.40,50.66
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,438,-0.45,0.0,1760,2144,3068,4095,57.8,-15.4,55,474,4.60,0.00,28.83,1.282,10244,0.057,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.15,25.19,23.88,10.39,50.43
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,476,begin climb
$GC,482,1.80,487.5,2185,2144,2483,4094,62.5,0.0,59,526,7.62,0.00,28.42,1.269,11270,0.031,0.000,2901,2144,1916,1916,4095,0,0,0,0,0,0,25.72,25.93,23.49,10.27,50.35
$GC,568,1.80,487.5,2901,2144,1915,4095,57.0,12.2,69,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1914,1914,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.15,48.34
$GC,618,1.80,487.5,2901,2144,1914,4094,51.1,11.2,75,628,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1712,1913,1913,4094,0,0,0,0,0,0,25.98,25.55,25.98,10.15,48.38
$GC,772,1.80,487.5,2901,1711,1908,4094,30.6,13.4,97,781,0.00,0.98,0.00,0.000,1030,0.000,0.029,2901,2113,1908,1908,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.13,49.56
$GC,821,1.80,487.5,2901,2112,1907,4094,24.3,12.8,103,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2112,1907,1907,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.12,50.00
$GC,870,1.80,487.5,2901,2112,1906,4094,18.6,11.1,109,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2113,1906,1906,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.17,50.47
$GC,920,1.81,490.7,2901,2112,1905,4094,13.3,10.7,115,929,0.00,1.08,0.00,0.000,516,0.000,0.047,2901,1705,1905,1905,4094,0,0,0,0,0,0,26.48,25.97,26.49,10.19,51.96
$STATE,1015,end climb,SURFACE_DEPTH_REACHED
$STATE,1015,begin surface coast
$FINISH,0.1,1.024308
$STATE,1030,end surface coast,CONTROL_FINISHED_OK
$STATE,1030,begin surface
$SM_CCo,1140,0.00,0.000,0,0,1901,501.42
$SM_GC,0.90,27.70,0.60,0.00,0.019,0.031,0.000,239,1981,1901,-6.55,-1.41,501.42,0,0,0,0,0,0,26.27,26.29,26.31
$IRIDIUM_FIX,5957.10,-16911.74,130917,152209
$TT8_MAMPS,0.025466,0.233688
$HUMID,52.91
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.49,81.916
$10V_AH,9.95,72.983
$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,46.250,6.875,57.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,366.406,60.017,114.289,547.431,124.165,0.000,304.209,0.000,321.702,0.000,0.545,0.000
$DEVICE_MAMPS,56.610,55.080,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.590,356.009,281.553,418.051,546.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333720
$DATA_FILE_SIZE,10952,131
$CAP_FILE_SIZE,21428,0
$CFSIZE,1024409600,908509184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,163826,5913.119,-17034.605,5,0.8,16,8.6,0.4,225.5,10,4.7