version: 66.13
glider: 401
mission: 22
dive: 2861
start: 9 14 117 15 19 28
data:
$ID,401
$MISSION,22
$DIVE,2861
$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,51
$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
$GPS1,140917,145902,5905.4268,-17029.0039,7,1.0,17,8.6,0.2,139.9,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-1.3
$GPS2,140917,145902,5905.4268,-17029.0039,7,1.0,17,8.6,0.2,139.9,9,4.8
$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,146.0,70348,-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,-487.5,2383,1984,2384,4092,0.0,0.0,0,26,6.35,0.00,-4.72,0.000,20482,0.024,0.000,1765,1984,2885,2885,4095,0,0,0,0,0,0,26.17,28.83,26.20,10.32,52.63
$GC,33,-1.80,-487.5,1765,1984,2885,4095,0.0,-0.1,2,40,0.00,0.00,-1.60,0.000,16646,0.000,0.000,1765,1984,3055,3055,4094,0,0,0,0,0,0,26.50,24.42,26.45,10.42,52.40
$GC,76,-1.80,-487.5,1765,1984,3055,4094,1.7,-6.5,8,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3056,3056,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,53.42
$GC,118,-1.80,-487.5,1765,1984,3056,4095,7.7,-15.5,14,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3057,3057,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.47,52.36
$GC,159,-1.80,-487.5,1765,1984,3058,4095,14.6,-16.3,20,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3058,3058,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.47,53.22
$GC,201,-1.80,-487.5,1765,1984,3060,4094,22.1,-18.2,26,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3060,3060,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.45,53.03
$GC,243,-1.80,-487.5,1765,1984,3061,4095,28.3,-14.5,32,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3061,3061,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.43,52.24
$GC,285,-1.80,-487.5,1765,1984,3063,4094,34.1,-13.4,38,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3063,3063,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.41,51.45
$GC,326,-1.80,-487.5,1765,1984,3063,4095,39.9,-14.1,44,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1985,3063,3063,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.40,50.82
$GC,368,-1.80,-487.5,1764,1984,3064,4095,45.8,-14.6,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3064,3064,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.40,50.47
$GC,410,-1.80,-487.5,1764,1984,3066,4095,51.8,-14.5,56,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3066,3066,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.39,50.27
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,442,-0.45,0.0,1765,2120,3066,4094,55.2,-14.4,59,478,4.55,0.00,28.65,1.258,10246,0.054,0.000,2185,2120,2484,2484,4095,0,0,0,0,0,0,26.13,25.16,23.85,10.39,50.19
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,485,1.80,487.5,2185,2120,2484,4095,59.2,0.0,65,527,7.55,0.00,28.30,1.237,10246,0.030,0.000,2900,2120,1915,1915,4094,0,0,0,0,0,0,25.71,24.68,23.46,10.27,49.21
$GC,563,1.80,487.5,2899,2120,1915,4094,53.6,11.8,77,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,1913,1913,4095,0,0,0,0,0,0,25.70,25.71,25.71,10.14,48.18
$GC,605,1.80,487.5,2899,2120,1913,4095,48.3,12.5,83,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,1913,1913,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.14,48.22
$GC,647,1.80,487.5,2899,2120,1912,4094,42.9,12.7,89,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,1912,1912,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.14,48.58
$GC,688,1.80,487.5,2899,2120,1911,4094,37.5,12.9,95,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,1911,1911,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.13,48.93
$GC,730,1.80,487.5,2899,2120,1910,4094,32.0,13.4,101,737,0.00,1.08,0.00,0.000,516,0.000,0.047,2899,1715,1910,1910,4095,0,0,0,0,0,0,26.23,25.77,26.25,10.13,49.60
$GC,875,1.92,566.6,2899,1715,1906,4095,15.0,9.6,124,888,0.32,1.02,5.65,0.561,11270,0.029,0.030,2941,2136,1822,1822,4094,0,0,0,0,0,0,26.10,26.06,24.10,10.16,50.39
$GC,925,1.92,566.6,2940,2136,1821,4094,9.2,12.4,131,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2136,1820,1820,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.16,51.96
$GC,966,1.92,566.6,2940,2135,1819,4094,3.9,12.5,137,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2136,1819,1819,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.16,53.11
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,1.8,1.024343,88
$GC,992,0.13,87.6,2940,2136,1818,4094,1.8,12.2,139,1006,5.70,0.00,-5.05,0.000,20486,0.020,0.000,2380,2136,2388,2388,4095,0,0,0,0,0,0,26.20,24.37,26.24,10.17,53.38
$FINISH2,0.3
$STATE,1007,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1007,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,145218
$TT8_MAMPS,0.025466,0.110103
$HUMID,53.70
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.46,83.553
$10V_AH,10.27,74.293
$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,24.475,3.000,62.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,367.759,205.357,143.577,205.444,147.550,0.000,306.909,0.000,214.448,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,49.725,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,10854,141
$CAP_FILE_SIZE,25546,0
$CFSIZE,1024409600,905609216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140917,145902,5905.427,-17029.004,7,1.0,17,8.6,0.2,139.9,9,4.8