version: 66.13
glider: 401
mission: 22
dive: 1563
start: 8 23 117 11 51 25
data:
$ID,401
$MISSION,22
$DIVE,1563
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,230817,110916,6120.5269,-17349.0586,9,0.9,30,7.0,0.5,192.5,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,1.6
$GPS2,230817,110916,6120.5269,-17349.0586,9,0.9,30,7.0,0.5,192.5,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,174.1,30688,-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,10,-1.78,-487.5,2395,1963,2354,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.023,0.000,1846,1963,2354,2354,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.33,52.71
$GC,23,-1.78,-487.5,1845,1963,2354,4094,0.0,0.0,1,36,0.52,1.25,-6.55,0.000,20996,0.031,1.264,1784,1516,3056,3056,4095,0,0,0,0,0,0,26.08,24.45,26.11,10.32,53.11
$GC,234,-1.78,-487.5,1784,1516,3061,4095,25.5,-12.9,35,240,0.00,1.02,0.00,0.000,1030,0.000,0.025,1784,1962,3061,3061,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.47,52.44
$GC,274,-1.78,-487.5,1784,1962,3062,4095,29.5,-9.9,41,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1962,3062,3062,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.44,51.89
$GC,314,-1.78,-487.5,1784,1962,3062,4094,33.3,-9.3,47,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1963,3062,3062,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.43,51.49
$GC,354,-1.78,-487.5,1784,1963,3063,4094,37.0,-9.1,53,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1963,3063,3063,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.41,50.39
$GC,394,-1.78,-487.5,1784,1963,3064,4094,40.6,-8.9,59,401,0.00,1.15,0.00,0.000,516,0.000,0.052,1784,1521,3064,3064,4095,0,0,0,0,0,0,26.51,26.12,26.51,10.40,49.60
$GC,453,-1.78,-487.5,1784,1521,3064,4095,46.1,-9.6,68,459,0.00,0.95,0.00,0.000,1030,0.000,0.025,1784,1945,3065,3065,4094,0,0,0,0,0,0,26.30,26.28,26.32,10.38,49.05
$GC,494,-1.78,-487.5,1784,1944,3066,4094,49.8,-9.0,74,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1944,3066,3066,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.38,48.50
$GC,533,-1.78,-487.5,1784,1944,3066,4095,53.6,-9.1,80,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1945,3066,3066,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.37,48.26
$GC,573,-1.78,-487.5,1784,1944,3066,4095,57.3,-9.4,86,580,0.00,1.10,0.00,0.000,516,0.000,0.054,1785,1523,3067,3067,4094,0,0,0,0,0,0,26.58,26.18,26.58,10.37,48.18
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,609,-0.45,0.0,1784,2117,3067,4094,60.0,-9.5,90,645,4.30,0.00,28.05,1.293,10244,0.053,0.000,2186,2118,2484,2484,4095,0,0,0,0,0,0,26.22,25.37,24.34,10.36,48.66
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,650,1.78,487.5,2186,2117,2484,4095,62.7,0.0,96,692,7.50,0.00,27.65,1.271,11270,0.029,0.000,2893,2118,1918,1918,4094,0,0,0,0,0,0,25.63,25.80,23.94,10.24,47.36
$GC,726,1.97,613.0,2892,2118,1918,4094,58.6,8.7,108,740,0.55,1.12,8.65,1.024,10756,0.031,0.045,2951,1705,1769,1769,4094,0,0,0,0,0,0,25.39,25.08,24.06,10.11,47.08
$GC,974,1.97,613.4,2950,1704,1763,4094,32.5,10.5,148,980,0.00,1.02,0.00,0.000,1030,0.000,0.028,2951,2122,1763,1763,4094,0,0,0,0,0,0,25.88,25.85,25.91,10.06,49.01
$GC,1014,1.97,613.4,2950,2122,1762,4094,28.1,11.1,154,1021,0.00,1.10,0.00,0.000,516,0.000,0.047,2951,1709,1762,1762,4094,0,0,0,0,0,0,26.19,25.82,26.20,10.07,49.76
$GC,1248,2.03,656.2,2950,1708,1757,4094,4.9,9.9,192,1257,0.15,0.95,3.55,0.346,11270,0.035,0.026,2978,2119,1717,1717,4094,0,0,0,0,0,0,26.15,26.16,24.91,10.16,54.25
$STATE,1280,end climb,SURFACE_DEPTH_REACHED
$STATE,1280,begin surface coast
$FINISH,0.2,1.024018
$STATE,1300,end surface coast,CONTROL_FINISHED_OK
$STATE,1303,begin surface
$SM_CCo,1408,0.00,0.000,0,0,1716,660.26
$SM_GC,0.70,28.67,0.45,0.00,0.020,0.062,0.000,230,1952,1716,-6.59,1.32,660.26,0,0,0,0,0,0,25.94,26.08,26.07
$IRIDIUM_FIX,6149.06,-17422.35,230817,110049
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.64
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.94,44.323
$10V_AH,10.38,43.861
$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,47.350,13.175,67.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,519.709,414.521,153.521,288.981,98.827,0.000,342.298,0.000,297.915,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1263.780,1292.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,14261,200
$CAP_FILE_SIZE,30322,0
$CFSIZE,1024409600,942686208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,121559,6119.729,-17349.420,7,0.9,25,7.0,0.3,233.4,10,4.7