version: 66.13
glider: 401
mission: 22
dive: 2852
start: 9 14 117 11 46 40
data:
$ID,401
$MISSION,22
$DIVE,2852
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,140917,112638,5907.5630,-17031.2969,7,0.8,61,8.6,0.0,167.8,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-0.7
$GPS2,140917,112638,5907.5630,-17031.2969,7,0.8,61,8.6,0.0,167.8,10,9.4
$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,145.7,74874,-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,-487.5,2384,1951,2386,4092,0.0,0.0,0,22,6.25,0.00,-1.23,0.000,20482,0.024,0.000,1773,1951,2516,2516,4095,0,0,0,0,0,0,26.28,28.83,26.33,10.32,53.07
$GC,29,-1.80,-487.5,1772,1950,2516,4095,0.0,0.0,1,39,0.00,1.25,-5.20,0.000,16644,0.000,1.216,1773,2377,3056,3056,4095,0,0,0,0,0,0,26.57,23.80,26.58,10.35,53.11
$GC,237,-1.80,-487.5,1773,2377,3061,4095,26.7,-12.5,30,246,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1945,3062,3062,4094,0,0,0,0,0,0,26.24,26.20,26.27,10.43,53.38
$GC,288,-1.80,-487.5,1772,1945,3062,4094,33.4,-13.2,36,297,0.00,1.08,0.00,0.000,516,0.000,0.052,1773,1521,3063,3063,4095,0,0,0,0,0,0,26.65,26.12,26.66,10.42,51.69
$GC,371,-1.80,-487.5,1772,1521,3065,4095,45.1,-14.2,47,381,0.00,1.00,0.00,0.000,1030,0.000,0.028,1773,1948,3065,3065,4095,0,0,0,0,0,0,26.36,26.33,26.40,10.40,50.47
$GC,423,-1.80,-487.5,1772,1948,3066,4095,52.2,-13.7,53,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1948,3066,3066,4094,0,0,0,0,0,0,26.69,26.71,26.70,10.39,50.00
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,454,-0.45,0.0,1773,2139,3067,4095,55.5,-13.6,55,497,4.45,0.00,28.90,1.263,10244,0.053,0.000,2185,2139,2483,2483,4094,0,0,0,0,0,0,26.17,24.70,23.86,10.39,50.43
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,505,1.80,487.5,2185,2138,2483,4094,59.9,0.0,60,550,7.55,1.10,28.48,1.245,10756,0.030,0.043,2902,1716,1916,1916,4094,0,0,0,0,0,0,25.63,25.58,23.49,10.27,49.09
$GC,616,1.80,487.5,2902,1716,1914,4094,50.3,13.3,74,626,0.00,1.05,0.00,0.000,1030,0.000,0.031,2902,2136,1914,1914,4094,0,0,0,0,0,0,25.60,25.56,25.61,10.14,47.99
$GC,666,1.80,487.5,2902,2135,1913,4094,43.6,13.7,80,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1913,1913,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.14,48.11
$GC,715,1.80,487.5,2902,2135,1911,4094,37.3,12.8,86,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1912,1912,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.13,48.42
$GC,764,1.80,487.5,2902,2135,1910,4094,31.0,12.8,92,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1910,1910,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.13,48.93
$GC,813,1.80,487.5,2902,2135,1908,4094,24.7,13.0,98,823,0.00,1.12,0.00,0.000,516,0.000,0.046,2902,1711,1908,1908,4094,0,0,0,0,0,0,26.34,25.85,26.35,10.13,49.09
$GC,986,1.80,487.5,2902,1711,1904,4094,4.4,11.1,123,996,0.00,1.05,0.00,0.000,1030,0.000,0.031,2903,2141,1903,1903,4094,0,0,0,0,0,0,26.17,26.10,26.18,10.19,52.48
$STATE,1004,end climb,FINISH_DEPTH_REACHED
$STATE,1004,begin subsurface finish
$FINISH1,1.7,1.024327,89
$GC,1019,0.13,88.7,2902,2141,1902,4094,1.7,11.3,125,1037,5.32,0.00,-4.45,0.000,20486,0.023,0.000,2384,2141,2383,2383,4095,0,0,0,0,0,0,26.20,25.52,26.26,10.21,53.03
$FINISH2,0.1
$STATE,1038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,101204
$TT8_MAMPS,0.026215,0.253162
$HUMID,53.34
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.49,83.302
$10V_AH,9.86,74.103
$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,23.575,9.625,57.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,354.802,0.000,98.675,529.275,118.815,0.000,297.264,0.000,311.542,0.000,0.544,0.000
$DEVICE_MAMPS,52.785,1215.585,1263.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.491,345.144,273.012,404.991,528.631,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333680
$DATA_FILE_SIZE,10895,127
$CAP_FILE_SIZE,21358,0
$CFSIZE,1024409600,906051584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140917,112638,5907.563,-17031.297,7,0.8,61,8.6,0.0,167.8,10,9.4