version: 66.13
glider: 401
mission: 22
dive: 3283
start: 9 21 117 12 13 35
data:
$ID,401
$MISSION,22
$DIVE,3283
$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,5
$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,23
$R_STBD_OVSHOOT,66
$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
$GPS1,210917,115707,5821.0029,-16949.5117,4,0.7,16,8.9,1.4,201.1,11,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-37.6
$GPS2,210917,121255,5820.9448,-16949.9531,5,0.7,19,8.9,0.8,238.8,11,4.9
$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,131.5,42742,-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,-487.5,237,1955,1901,4092,0.0,0.0,0,24,9.50,0.00,0.00,0.000,2049,0.097,0.000,1034,1949,1902,1902,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.25,52.40
$GC,31,-1.80,-487.5,1033,1954,1901,4094,0.9,0.0,1,54,7.97,1.27,-10.48,0.000,18948,0.068,1.222,1752,1518,3055,3055,4095,0,0,0,0,0,0,25.72,23.65,25.87,10.25,53.18
$GC,244,-1.80,-487.5,1752,1518,3061,4095,28.5,-17.1,18,248,0.00,0.93,0.00,0.000,1030,0.000,0.026,1752,1922,3061,3061,4094,0,0,0,0,0,0,26.26,26.23,26.28,10.49,52.16
$GC,322,-1.80,-487.5,1752,1922,3063,4094,39.1,-13.8,24,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1922,3063,3063,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.45,51.96
$GC,392,-1.80,-487.5,1751,1923,3065,4095,49.5,-14.5,30,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1923,3065,3065,4095,0,0,0,0,0,0,26.67,26.67,26.67,10.44,51.26
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,448,-0.45,0.0,1752,2135,3066,4094,56.3,-14.3,34,485,4.62,0.00,29.10,1.281,10244,0.052,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.08,25.01,23.61,10.42,50.47
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,492,1.80,487.5,2185,2135,2484,4094,60.2,0.0,38,532,7.40,0.00,28.38,1.246,11270,0.028,0.000,2903,2136,1915,1915,4094,0,0,0,0,0,0,25.74,25.92,23.36,10.31,49.72
$GC,596,1.80,487.5,2902,2136,1914,4094,50.1,13.8,47,600,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1707,1914,1914,4094,0,0,0,0,0,0,25.91,25.47,25.92,10.18,48.70
$GC,760,1.80,487.5,2902,1707,1908,4094,28.0,13.5,60,767,0.00,1.00,0.00,0.000,1030,0.000,0.028,2903,2120,1908,1908,4094,0,0,0,0,0,0,26.01,25.98,26.05,10.17,49.44
$GC,828,1.80,487.5,2902,2119,1907,4094,19.6,11.6,66,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1906,1906,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.20,51.02
$GC,900,1.80,487.5,2902,2119,1903,4094,10.0,13.8,72,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1904,1904,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.22,52.44
$GC,972,2.07,668.0,2902,2119,1902,4094,3.4,8.1,78,992,0.77,1.08,10.45,0.587,10756,0.026,0.049,2989,1706,1704,1704,4094,0,0,0,0,0,0,26.29,25.38,24.34,10.22,53.62
$STATE,996,end climb,FINISH_DEPTH_REACHED
$STATE,996,begin subsurface finish
$FINISH1,0.8,1.024546,73
$GC,1012,0.11,73.4,2988,2144,1704,4094,0.8,8.6,80,1031,5.97,1.27,-6.12,0.000,20996,0.022,1.229,2386,1712,2405,2405,4094,0,0,0,0,0,0,26.15,23.70,26.20,10.19,53.26
$FINISH2,0.1
$STATE,1032,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1032,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,210917,120442
$TT8_MAMPS,0.025466,0.164031
$HUMID,53.42
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.36,95.393
$10V_AH,9.92,82.250
$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,36.250,8.400,67.925,0.000,0.000,102.247,103.414,328.608,0.000,0.000,20.570,271.872,564.023,118.268,673.694,359.385,0.000,263.859,0.000,192.074,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1228.590,1280.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333580
$DATA_FILE_SIZE,7396,82
$CAP_FILE_SIZE,27064,0
$CFSIZE,1024409600,894746624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210917,121255,5820.945,-16949.953,5,0.7,19,8.9,0.8,238.8,11,4.9