version: 66.13
glider: 401
mission: 22
dive: 2856
start: 9 14 117 13 15 52
data:
$ID,401
$MISSION,22
$DIVE,2856
$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,27
$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
$GPS1,140917,123646,5907.0981,-17030.0586,7,0.7,14,8.6,0.0,169.1,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.7
$GPS2,140917,123646,5907.0981,-17030.0586,7,0.7,14,8.6,0.0,169.1,11,4.8
$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,146.3,73582,-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,-487.5,2381,1973,2388,4092,0.0,0.0,0,23,6.35,0.00,-2.05,0.000,20482,0.024,0.000,1766,1973,2603,2603,4094,0,0,0,0,0,0,26.20,28.83,26.27,10.32,54.09
$GC,30,-1.80,-487.5,1766,1973,2603,4094,0.0,0.0,1,40,0.00,0.00,-4.38,0.000,16390,0.000,0.000,1766,1973,3056,3056,4095,0,0,0,0,0,0,26.55,24.48,26.55,10.36,53.81
$GC,80,-1.80,-487.5,1766,1973,3057,4095,2.8,-10.6,7,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1973,3057,3057,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.46,53.62
$GC,128,-1.80,-487.5,1766,1973,3058,4094,9.8,-15.7,13,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1973,3058,3058,4094,0,0,0,0,0,0,26.55,26.55,26.55,10.46,54.29
$GC,176,-1.80,-487.5,1766,1973,3060,4094,18.0,-17.3,19,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1973,3060,3060,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.46,54.09
$GC,225,-1.80,-487.5,1766,1973,3061,4094,25.4,-13.1,25,233,0.00,1.08,0.00,0.000,260,0.000,0.045,1766,2374,3062,3062,4095,0,0,0,0,0,0,26.60,26.08,26.61,10.44,53.85
$GC,306,-1.80,-487.5,1765,2374,3063,4095,36.4,-13.5,36,316,0.00,1.05,0.00,0.000,1030,0.000,0.031,1766,1954,3064,3064,4095,0,0,0,0,0,0,26.24,26.20,26.29,10.40,52.32
$GC,356,-1.80,-487.5,1765,1953,3064,4095,43.3,-14.1,42,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1954,3064,3064,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.39,51.10
$GC,405,-1.80,-487.5,1765,1954,3065,4094,50.3,-14.3,48,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1954,3066,3066,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.39,50.55
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,449,-0.45,0.0,1766,2143,3067,4094,55.3,-14.0,52,485,4.53,0.00,28.75,1.260,10244,0.054,0.000,2186,2143,2483,2483,4094,0,0,0,0,0,0,26.15,25.17,23.85,10.39,50.35
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2186,2143,2484,4094,59.4,0.0,56,538,7.60,0.00,28.30,1.237,11270,0.030,0.000,2900,2143,1919,1919,4094,0,0,0,0,0,0,25.72,25.92,23.47,10.27,49.56
$GC,580,1.80,487.5,2899,2142,1918,4094,53.0,12.8,66,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1917,1917,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.14,48.66
$GC,630,1.80,487.5,2899,2142,1916,4094,46.3,13.2,72,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1916,1916,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.13,48.77
$GC,680,1.80,487.5,2899,2142,1915,4094,40.0,12.9,78,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1915,1915,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,48.66
$GC,730,1.80,487.5,2899,2143,1913,4094,33.4,12.9,84,739,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1712,1913,1913,4094,0,0,0,0,0,0,26.22,25.75,26.24,10.13,48.62
$GC,838,1.80,487.5,2899,1711,1910,4094,19.2,13.4,99,847,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2131,1910,1910,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.14,50.23
$GC,888,1.83,507.8,2899,2131,1909,4094,14.0,10.5,105,897,0.00,0.00,2.72,0.240,8198,0.000,0.000,2900,2131,1890,1890,4094,0,0,0,0,0,0,26.43,24.48,23.78,10.17,50.78
$GC,939,1.83,507.8,2899,2131,1889,4094,8.6,11.1,111,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1889,1889,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.18,52.04
$GC,990,1.83,507.8,2899,2130,1888,4094,2.9,11.2,117,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1888,1888,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.19,52.87
$STATE,1006,end climb,SURFACE_DEPTH_REACHED
$STATE,1006,begin surface coast
$FINISH,0.1,1.013237
$STATE,1021,end surface coast,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$SM_CCo,1132,0.00,0.000,0,0,1888,513.44
$SM_GC,0.99,27.85,0.47,0.00,0.019,0.039,0.000,230,1945,1888,-6.59,1.09,513.44,0,0,0,0,0,0,25.82,26.18,25.96
$IRIDIUM_FIX,5957.10,-16911.74,140917,122928
$TT8_MAMPS,0.025466,0.274134
$HUMID,53.22
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.47,83.406
$10V_AH,9.90,74.188
$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,46.325,5.675,59.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,353.886,60.413,133.580,502.960,152.697,0.000,340.647,0.000,296.072,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,47.430,1259.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.069,328.797,260.108,385.830,501.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333664
$DATA_FILE_SIZE,10827,121
$CAP_FILE_SIZE,25383,0
$CFSIZE,1024409600,905854976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140917,133547,5906.362,-17029.371,5,0.9,15,8.6,0.3,211.6,9,5.0