version: 66.13
glider: 401
mission: 22
dive: 1598
start: 8 24 117 2 48 8
data:
$ID,401
$MISSION,22
$DIVE,1598
$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,25
$R_STBD_OVSHOOT,58
$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
$GPS1,240817,022712,6114.4424,-17352.9785,6,0.8,22,7.0,0.7,311.4,11,4.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-2.1
$GPS2,240817,022712,6114.4424,-17352.9785,6,0.8,22,7.0,0.7,311.4,11,4.8
$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,164.5,19629,-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,-487.5,2391,1964,2372,4092,0.0,0.0,0,21,6.30,0.00,-2.10,0.000,20482,0.023,0.000,1769,1970,2600,2600,4094,0,0,0,0,0,0,26.19,28.83,26.23,10.35,52.63
$GC,26,-1.78,-487.5,1768,1970,2599,4094,0.0,0.0,1,36,0.00,1.05,-4.30,0.000,16644,0.000,1.243,1768,2349,3058,3058,4095,0,0,0,0,0,0,26.42,24.49,26.43,10.39,53.07
$GC,68,-1.78,-487.5,1768,2350,3058,4095,0.7,-1.6,6,78,0.00,1.00,0.00,0.000,1030,0.000,0.031,1768,1952,3058,3058,4094,0,0,0,0,0,0,26.08,26.05,26.11,10.50,52.52
$GC,116,-1.78,-487.5,1767,1952,3059,4094,7.3,-15.6,12,125,0.00,1.08,0.00,0.000,516,0.000,0.051,1768,1523,3059,3059,4095,0,0,0,0,0,0,26.40,26.01,26.41,10.50,52.32
$GC,317,-1.78,-487.5,1768,1523,3065,4095,36.4,-13.1,41,326,0.00,0.98,0.00,0.000,1030,0.000,0.028,1768,1943,3065,3065,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.42,50.66
$GC,365,-1.78,-487.5,1768,1943,3066,4095,43.0,-13.0,47,374,0.00,1.10,0.00,0.000,260,0.000,0.044,1768,2366,3066,3066,4095,0,0,0,0,0,0,26.54,26.17,26.55,10.41,50.63
$GC,406,-1.78,-487.5,1768,2365,3067,4095,48.3,-12.7,52,414,0.00,0.98,0.00,0.000,1030,0.000,0.030,1768,1978,3067,3067,4094,0,0,0,0,0,0,26.31,26.27,26.32,10.40,49.09
$GC,452,-1.78,-487.5,1767,1977,3067,4094,54.4,-13.3,58,462,0.00,1.17,0.00,0.000,516,0.000,0.050,1768,1514,3069,3069,4094,0,0,0,0,0,0,26.58,26.18,26.58,10.39,48.81
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,507,-0.45,0.0,1768,2133,3070,4095,60.8,-13.5,64,543,4.47,0.00,28.40,1.327,10244,0.054,0.000,2186,2133,2484,2484,4094,0,0,0,0,0,0,26.21,25.36,24.32,10.38,47.79
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,549,1.78,487.5,2185,2133,2484,4094,64.4,0.0,68,593,7.50,0.00,27.98,1.290,11270,0.031,0.000,2894,2133,1916,1916,4094,0,0,0,0,0,0,25.62,25.79,23.91,10.26,46.96
$GC,633,1.78,487.5,2892,2133,1915,4094,57.5,12.8,78,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1914,1914,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.12,46.02
$GC,682,1.78,487.5,2892,2133,1913,4094,51.1,13.1,84,691,0.00,1.15,0.00,0.000,516,0.000,0.044,2893,1705,1913,1913,4095,0,0,0,0,0,0,25.82,25.48,25.82,10.12,46.61
$GC,821,1.87,546.3,2892,1705,1908,4095,33.4,9.7,104,832,0.20,1.02,4.70,0.619,11270,0.041,0.028,2921,2126,1846,1846,4094,0,0,0,0,0,0,25.84,25.84,24.51,10.12,47.20
$GC,872,1.87,546.3,2921,2126,1845,4094,27.2,13.2,110,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2126,1845,1845,4095,0,0,0,0,0,0,26.13,26.15,26.14,10.11,47.67
$GC,920,1.87,546.3,2921,2126,1844,4095,21.3,11.9,116,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2126,1844,1844,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.14,48.70
$GC,969,1.87,546.3,2921,2126,1842,4094,15.1,13.0,122,978,0.00,1.12,0.00,0.000,516,0.000,0.047,2922,1702,1842,1842,4094,0,0,0,0,0,0,26.25,25.88,26.27,10.17,50.59
$STATE,1079,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.9,1.024171,100
$GC,1091,0.15,99.6,2921,2141,1838,4094,1.9,11.2,138,1110,5.45,0.00,-4.80,0.000,20486,0.022,0.000,2384,2143,2372,2372,4094,0,0,0,0,0,0,26.14,25.44,26.17,10.20,52.44
$FINISH2,0.1
$STATE,1111,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1111,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,021811
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.40
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.91,45.392
$10V_AH,10.13,44.735
$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,23.925,13.850,61.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,394.794,0.000,104.357,586.280,85.950,0.000,319.461,0.000,340.824,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1243.125,1327.275,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.853,380.350,301.047,446.417,584.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,14414,140
$CAP_FILE_SIZE,24495,0
$CFSIZE,1024409600,940965888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,022712,6114.442,-17352.979,6,0.8,22,7.0,0.7,311.4,11,4.8