version: 66.13
glider: 401
mission: 22
dive: 1308
start: 8 19 117 2 47 27
data:
$ID,401
$MISSION,22
$DIVE,1308
$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,48
$R_STBD_OVSHOOT,57
$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
$GPS1,190817,020620,6158.1807,-17418.9746,5,0.9,17,6.8,0.0,26.9,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.6
$GPS2,190817,020620,6158.1807,-17418.9746,5,0.9,17,6.8,0.0,26.9,9,4.7
$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,131.2,36284,-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,5,begin dive
$GC,9,-1.78,-487.5,2403,1984,2339,4092,0.0,0.0,0,21,6.53,0.00,-2.58,0.000,20482,0.024,0.000,1776,1984,2613,2613,4094,0,0,0,0,0,0,25.99,28.83,26.05,10.30,53.85
$GC,25,-1.78,-487.5,1776,1984,2613,4094,0.1,0.0,1,36,0.00,1.02,-4.22,0.000,16644,0.000,1.257,1776,2346,3055,3055,4095,0,0,0,0,0,0,26.23,24.52,26.25,10.36,53.42
$GC,253,-1.78,-487.5,1775,2347,3060,4095,30.5,-10.5,34,263,0.00,0.95,0.00,0.000,1030,0.000,0.030,1776,1974,3061,3061,4095,0,0,0,0,0,0,26.13,26.10,26.16,10.39,52.12
$GC,300,-1.78,-487.5,1775,1974,3062,4095,35.7,-10.5,40,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1974,3062,3062,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,50.98
$GC,348,-1.78,-487.5,1775,1974,3062,4095,40.6,-11.0,46,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1975,3062,3062,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.36,50.23
$GC,395,-1.78,-487.5,1775,1974,3062,4095,46.1,-12.1,52,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1974,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,49.40
$GC,443,-1.78,-487.5,1775,1974,3064,4095,51.7,-11.5,58,452,0.00,0.98,0.00,0.000,260,0.000,0.040,1776,2346,3064,3064,4094,0,0,0,0,0,0,26.47,26.17,26.48,10.34,48.11
$STATE,512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,512,begin apogee
$GC,521,-0.45,0.0,1776,2115,3066,4094,60.5,-12.0,68,557,4.43,0.00,28.30,1.312,10244,0.055,0.000,2186,2115,2484,2484,4094,0,0,0,0,0,0,26.19,25.29,24.23,10.33,47.67
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,562,1.78,487.5,2186,2115,2483,4094,63.5,0.0,72,606,7.50,0.98,28.15,1.286,10756,0.033,0.045,2894,1731,1914,1914,4094,0,0,0,0,0,0,25.51,25.44,23.82,10.20,47.67
$GC,733,1.78,487.5,2894,1730,1911,4094,47.2,11.9,95,743,0.00,0.93,0.00,0.000,1030,0.000,0.029,2894,2107,1911,1911,4095,0,0,0,0,0,0,25.65,25.63,25.67,10.06,46.45
$GC,782,1.78,487.5,2894,2107,1910,4095,41.6,11.9,101,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2107,1910,1910,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.06,46.92
$GC,830,1.78,487.5,2894,2107,1908,4094,35.8,12.1,107,839,0.00,1.00,0.00,0.000,516,0.000,0.047,2894,1729,1908,1908,4094,0,0,0,0,0,0,26.06,25.75,26.06,10.05,47.44
$GC,1056,1.98,619.2,2894,1728,1903,4094,12.8,8.6,140,1075,0.55,1.00,7.97,0.643,11270,0.031,0.030,2956,2138,1760,1760,4094,0,0,0,0,0,0,26.08,26.03,24.93,10.15,51.77
$GC,1115,1.98,620.5,2956,2138,1759,4094,7.2,10.5,147,1124,0.00,1.08,0.00,0.000,516,0.000,0.047,2956,1732,1759,1759,4095,0,0,0,0,0,0,26.25,25.93,26.26,10.13,52.20
$STATE,1164,end climb,SURFACE_DEPTH_REACHED
$STATE,1165,begin surface coast
$FINISH,0.1,1.012536
$STATE,1186,end surface coast,CONTROL_FINISHED_OK
$STATE,1186,begin surface
$SM_CCo,1289,0.00,0.000,0,0,1756,625.92
$SM_GC,1.04,28.48,0.55,0.00,0.021,0.037,0.000,231,1960,1756,-6.59,-1.28,625.92,0,0,0,0,0,0,25.98,26.07,26.08
$IRIDIUM_FIX,6149.06,-17422.35,190817,004927
$TT8_MAMPS,0.025466,0.250166
$HUMID,53.30
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.82,36.770
$10V_AH,10.13,37.769
$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,47.475,9.550,64.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.909,59.955,121.319,655.680,79.619,0.000,331.278,0.000,381.310,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1256.895,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.559,426.635,337.622,500.961,654.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,14249,157
$CAP_FILE_SIZE,25070,0
$CFSIZE,1024409600,955219968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,030952,6158.180,-17417.574,5,0.8,16,6.8,0.0,45.4,11,5.0