version: 66.13
glider: 401
mission: 22
dive: 3206
start: 9 20 117 4 42 11
data:
$ID,401
$MISSION,22
$DIVE,3206
$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,19
$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
$GPS1,200917,042236,5832.7158,-16959.4453,6,0.8,19,8.8,1.0,98.5,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-4.2
$GPS2,200917,042236,5832.7158,-16959.4453,6,0.8,19,8.8,1.0,98.5,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W3S
$TGT_LATLONG,5803.150,-16922.180
$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,137.5,65817,-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,-487.5,2370,1969,2411,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.018,0.000,1799,1969,2412,2412,4095,0,0,0,0,0,0,26.63,28.83,28.83,10.32,53.26
$GC,27,-1.80,-487.5,1798,1969,2411,4095,0.2,0.0,1,40,0.12,1.15,-5.90,0.000,20740,0.070,1.210,1779,2376,3054,3054,4094,0,0,0,0,0,0,26.36,23.78,26.37,10.32,53.42
$GC,194,-1.80,-487.5,1778,2377,3058,4094,18.0,-15.3,27,201,0.00,1.08,0.00,0.000,1030,0.000,0.031,1779,1944,3058,3058,4094,0,0,0,0,0,0,26.21,26.17,26.24,10.46,53.50
$GC,237,-1.80,-487.5,1779,1944,3060,4094,24.9,-15.9,33,244,0.00,1.08,0.00,0.000,516,0.000,0.054,1780,1521,3060,3060,4095,0,0,0,0,0,0,26.63,26.04,26.65,10.46,52.95
$GC,328,-1.80,-487.5,1779,1521,3062,4095,36.6,-12.6,47,334,0.00,1.00,0.00,0.000,1030,0.000,0.031,1779,1940,3062,3062,4095,0,0,0,0,0,0,26.29,26.26,26.32,10.41,52.55
$GC,370,-1.80,-487.5,1779,1940,3063,4095,42.2,-12.6,53,377,0.00,1.12,0.00,0.000,260,0.000,0.045,1779,2372,3063,3063,4095,0,0,0,0,0,0,26.69,26.12,26.70,10.41,52.16
$GC,461,-1.80,-487.5,1779,2373,3066,4095,54.6,-14.9,67,468,0.00,1.02,0.00,0.000,1030,0.000,0.028,1780,1961,3066,3066,4094,0,0,0,0,0,0,26.36,26.34,26.39,10.40,51.29
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,487,-0.45,0.0,1779,2142,3067,4094,57.5,-15.7,69,523,4.30,0.00,28.90,1.291,10244,0.050,0.000,2186,2142,2484,2484,4094,0,0,0,0,0,0,26.16,25.08,23.69,10.40,51.45
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,531,1.80,487.5,2186,2141,2484,4094,62.2,0.0,75,572,7.40,0.00,28.48,1.267,11270,0.029,0.000,2900,2142,1916,1916,4094,0,0,0,0,0,0,25.77,25.94,23.37,10.28,51.02
$GC,608,1.80,487.5,2899,2141,1914,4094,55.9,12.9,87,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1915,1915,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.15,49.84
$GC,650,1.80,487.5,2899,2141,1913,4094,50.1,12.6,93,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1913,1913,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.15,49.52
$GC,692,1.80,487.5,2899,2141,1912,4094,43.8,14.8,99,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2142,1912,1912,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.15,49.40
$GC,734,1.80,487.5,2899,2142,1911,4094,38.6,12.7,105,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1911,1911,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.15,49.80
$GC,776,1.80,487.5,2899,2141,1910,4095,32.7,13.8,111,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1910,1910,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.14,49.92
$GC,817,1.80,487.5,2899,2141,1908,4094,27.2,13.2,117,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1908,1908,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.14,50.03
$GC,859,1.85,516.3,2899,2141,1907,4094,22.4,10.4,123,867,0.00,1.15,3.12,0.349,8708,0.000,0.045,2900,1707,1881,1881,4094,0,0,0,0,0,0,26.41,25.10,23.78,10.17,50.98
$GC,1017,1.87,531.5,2899,1707,1876,4094,4.8,10.6,147,1025,0.15,1.02,2.53,0.168,11270,0.043,0.028,2925,2135,1862,1862,4094,0,0,0,0,0,0,26.13,26.15,23.94,10.18,53.46
$STATE,1030,end climb,FINISH_DEPTH_REACHED
$STATE,1031,begin subsurface finish
$FINISH1,1.9,1.024636,67
$GC,1046,0.10,67.1,2925,2135,1861,4094,1.9,11.5,149,1059,5.53,0.00,-4.68,0.000,20486,0.020,0.000,2360,2135,2412,2412,4095,0,0,0,0,0,0,26.29,24.36,26.32,10.18,53.58
$FINISH2,0.5
$STATE,1060,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1060,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,031019
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.74
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.37,93.169
$10V_AH,10.16,81.305
$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,23.125,9.500,63.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,396.904,244.163,125.764,218.500,137.947,0.000,285.028,0.000,228.487,0.000,0.543,0.000
$DEVICE_MAMPS,70.380,1210.230,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,10858,151
$CAP_FILE_SIZE,24837,0
$CFSIZE,1024409600,888668160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,042236,5832.716,-16959.445,6,0.8,19,8.8,1.0,98.5,10,4.9