version: 66.13
glider: 401
mission: 22
dive: 1296
start: 8 18 117 22 2 40
data:
$ID,401
$MISSION,22
$DIVE,1296
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$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,2
$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
$GPS1,180817,212018,6157.7256,-17420.7441,5,0.8,19,6.8,0.4,242.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-1.7
$GPS2,180817,212018,6157.7256,-17420.7441,5,0.8,19,6.8,0.4,242.2,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,128.5,36736,-11.5,-10.526,-14.94,6951
$D_GRID,60
$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,6,begin dive
$GC,10,-1.78,-487.5,2400,1952,2340,4092,0.0,0.0,0,21,6.45,0.00,-2.30,0.000,20482,0.022,0.000,1771,1952,2586,2586,4094,0,0,0,0,0,0,26.14,28.83,26.18,10.29,54.13
$GC,25,-1.78,-487.5,1771,1951,2586,4094,0.0,0.0,1,35,0.00,0.00,-4.47,0.000,16902,0.000,0.000,1771,1951,3056,3056,4094,0,0,0,0,0,0,26.34,24.93,26.36,10.35,53.85
$GC,72,-1.78,-487.5,1770,1951,3057,4094,4.2,-14.1,7,81,0.00,1.10,0.00,0.000,516,0.000,0.049,1771,1517,3058,3058,4094,0,0,0,0,0,0,26.30,26.00,26.32,10.45,54.60
$GC,133,-1.78,-487.5,1770,1517,3060,4094,15.7,-19.3,15,142,0.00,1.05,0.00,0.000,1030,0.000,0.031,1771,1947,3060,3060,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.45,54.13
$GC,181,-1.78,-487.5,1771,1947,3061,4094,23.9,-15.6,21,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1948,3061,3061,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.42,53.11
$GC,229,-1.78,-487.5,1770,1948,3062,4095,30.0,-12.3,27,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1948,3062,3062,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.38,52.71
$GC,276,-1.78,-487.5,1770,1948,3063,4094,36.0,-12.5,33,285,0.00,1.15,0.00,0.000,260,0.000,0.046,1771,2386,3064,3064,4095,0,0,0,0,0,0,26.44,26.13,26.46,10.37,50.51
$GC,349,-1.78,-487.5,1770,2386,3065,4095,45.5,-13.0,43,358,0.00,1.12,0.00,0.000,1030,0.000,0.030,1771,1935,3066,3066,4095,0,0,0,0,0,0,26.25,26.20,26.26,10.34,49.72
$GC,395,-1.78,-487.5,1770,1935,3066,4095,51.4,-13.2,49,404,0.00,1.05,0.00,0.000,516,0.000,0.051,1771,1519,3066,3066,4095,0,0,0,0,0,0,26.50,26.17,26.51,10.33,48.50
$GC,455,-1.78,-487.5,1770,1519,3068,4095,59.4,-13.3,57,463,0.00,1.00,0.00,0.000,1030,0.000,0.028,1771,1946,3067,3067,4095,0,0,0,0,0,0,26.31,26.29,26.33,10.33,47.71
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,480,-0.45,0.0,1770,2136,3068,4094,62.1,-13.5,59,516,4.47,0.00,28.40,1.335,10244,0.055,0.000,2185,2137,2484,2484,4094,0,0,0,0,0,0,26.22,25.29,24.21,10.32,48.62
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,521,1.78,487.5,2185,2136,2484,4094,65.3,0.0,63,566,7.55,1.12,28.05,1.308,10756,0.032,0.043,2895,1707,1916,1916,4094,0,0,0,0,0,0,25.51,25.46,23.80,10.19,47.63
$GC,623,1.78,487.5,2894,1706,1915,4094,56.1,12.8,76,633,0.00,1.08,0.00,0.000,1030,0.000,0.030,2894,2132,1915,1915,4094,0,0,0,0,0,0,25.44,25.41,25.46,10.06,46.45
$GC,670,1.78,487.5,2894,2132,1913,4094,49.8,12.8,82,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2133,1913,1913,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.06,46.65
$GC,716,1.78,487.5,2894,2132,1912,4094,43.9,13.0,88,725,0.00,1.12,0.00,0.000,516,0.000,0.045,2894,1712,1912,1912,4094,0,0,0,0,0,0,25.91,25.60,25.93,10.05,46.22
$GC,795,1.78,487.5,2894,1712,1910,4094,33.7,13.0,99,804,0.00,1.02,0.00,0.000,1030,0.000,0.031,2894,2128,1910,1910,4094,0,0,0,0,0,0,25.83,25.79,25.85,10.04,47.28
$GC,841,1.78,487.5,2894,2127,1908,4094,28.1,12.2,105,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2127,1908,1908,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.05,47.24
$GC,887,1.78,487.5,2894,2127,1907,4094,22.3,12.4,111,897,0.00,1.10,0.00,0.000,516,0.000,0.045,2894,1712,1907,1907,4094,0,0,0,0,0,0,26.17,25.86,26.19,10.05,47.44
$GC,1032,1.93,589.0,2894,1712,1904,4094,9.0,9.0,132,1044,0.43,1.00,6.53,0.568,11270,0.033,0.029,2941,2123,1795,1795,4094,0,0,0,0,0,0,26.09,26.06,25.00,10.15,51.65
$GC,1083,1.97,616.9,2941,2122,1794,4094,4.1,10.1,138,1093,0.00,0.00,3.20,0.300,8198,0.000,0.000,2941,2123,1762,1762,4094,0,0,0,0,0,0,26.27,25.53,25.03,10.14,52.12
$STATE,1100,end climb,SURFACE_DEPTH_REACHED
$STATE,1100,begin surface coast
$FINISH,0.4,1.023748
$STATE,1122,end surface coast,CONTROL_FINISHED_OK
$STATE,1122,begin surface
$SM_CCo,1225,0.00,0.000,0,0,1761,622.48
$SM_GC,1.09,28.40,0.45,0.00,0.021,0.043,0.000,231,1947,1761,-6.59,1.28,622.48,0,0,0,0,0,0,26.01,26.03,26.08
$IRIDIUM_FIX,6149.06,-17422.35,180817,200315
$TT8_MAMPS,0.026215,0.253162
$HUMID,53.34
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.80,36.423
$10V_AH,10.12,37.486
$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,47.300,14.275,66.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,409.905,59.785,139.043,594.146,87.326,0.000,364.585,0.000,347.879,0.000,0.540,0.000
$DEVICE_MAMPS,55.080,51.255,1334.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.096,388.504,307.461,455.991,592.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,14171,143
$CAP_FILE_SIZE,29468,0
$CFSIZE,1024409600,955809792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,222422,6157.646,-17420.895,5,0.9,37,6.8,0.3,299.3,9,4.6