version: 66.13
glider: 401
mission: 22
dive: 1611
start: 8 24 117 8 10 15
data:
$ID,401
$MISSION,22
$DIVE,1611
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,240817,072732,6114.5923,-17353.7168,5,0.7,27,7.0,0.7,304.4,11,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.6
$GPS2,240817,072732,6114.5923,-17353.7168,5,0.7,27,7.0,0.7,304.4,11,5.0
$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,162.7,20011,-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,-487.5,2380,1952,2385,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.023,0.000,1830,1953,2385,2385,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.32,52.83
$GC,23,-1.78,-487.5,1830,1952,2385,4094,0.2,0.0,1,36,0.38,1.17,-6.28,0.000,20996,0.034,1.258,1783,1517,3055,3055,4094,0,0,0,0,0,0,26.11,24.45,26.13,10.32,53.54
$GC,234,-1.78,-487.5,1782,1517,3060,4094,26.7,-14.2,35,240,0.00,1.02,0.00,0.000,1030,0.000,0.028,1783,1950,3060,3060,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.46,52.71
$GC,274,-1.78,-487.5,1782,1950,3061,4095,31.9,-12.3,41,281,0.00,1.10,0.00,0.000,260,0.000,0.046,1783,2373,3061,3061,4095,0,0,0,0,0,0,26.45,26.06,26.46,10.43,52.16
$GC,327,-1.78,-487.5,1783,2373,3062,4095,38.3,-12.2,49,333,0.00,1.08,0.00,0.000,1030,0.000,0.031,1783,1944,3062,3062,4094,0,0,0,0,0,0,26.18,26.15,26.22,10.41,51.41
$GC,367,-1.78,-487.5,1782,1944,3063,4094,43.3,-12.2,55,374,0.00,1.08,0.00,0.000,516,0.000,0.053,1783,1521,3064,3064,4094,0,0,0,0,0,0,26.49,26.09,26.51,10.39,50.82
$GC,426,-1.78,-487.5,1782,1521,3065,4094,50.4,-11.8,64,432,0.00,1.00,0.00,0.000,1030,0.000,0.027,1783,1949,3065,3065,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.38,49.52
$GC,466,-1.78,-487.5,1782,1949,3066,4094,55.2,-11.9,70,473,0.00,1.10,0.00,0.000,260,0.000,0.045,1783,2371,3066,3066,4095,0,0,0,0,0,0,26.54,26.16,26.55,10.38,49.56
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,502,begin apogee
$GC,513,-0.45,0.0,1782,2119,3067,4095,60.3,-12.9,76,549,4.32,0.00,27.98,1.311,10244,0.053,0.000,2184,2120,2484,2484,4094,0,0,0,0,0,0,26.17,25.34,24.32,10.37,49.09
$STATE,550,end apogee,CONTROL_FINISHED_OK
$STATE,550,begin climb
$GC,554,1.78,487.5,2184,2119,2484,4094,63.2,0.0,82,596,7.53,0.00,27.73,1.274,11270,0.029,0.000,2893,2120,1916,1916,4094,0,0,0,0,0,0,25.60,25.77,23.91,10.24,48.58
$GC,630,1.78,487.5,2893,2119,1915,4094,56.8,12.6,94,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2120,1915,1915,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.11,47.75
$GC,670,1.78,487.5,2892,2119,1914,4094,51.4,13.8,100,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1913,1913,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.11,47.00
$GC,709,1.78,487.5,2893,2119,1912,4094,46.0,13.6,106,716,0.00,1.02,0.00,0.000,516,0.000,0.047,2893,1729,1912,1912,4094,0,0,0,0,0,0,25.86,25.53,25.87,10.10,47.40
$GC,804,1.78,487.5,2893,1728,1909,4094,33.4,13.0,121,810,0.00,1.00,0.00,0.000,1030,0.000,0.030,2893,2134,1909,1909,4094,0,0,0,0,0,0,25.80,25.77,25.83,10.10,48.22
$GC,846,1.78,487.5,2893,2133,1908,4094,28.0,13.5,127,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1908,1908,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.11,48.26
$GC,885,1.78,487.5,2892,2133,1907,4094,22.9,11.7,133,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1907,1907,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.13,49.13
$GC,925,1.78,487.5,2892,2133,1906,4094,18.3,11.4,139,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1905,1905,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.15,50.00
$GC,965,1.78,487.5,2893,2133,1905,4095,13.9,11.3,145,971,0.00,1.05,0.00,0.000,516,0.000,0.045,2893,1735,1905,1905,4095,0,0,0,0,0,0,26.27,25.90,26.28,10.17,51.65
$STATE,1073,end climb,SURFACE_DEPTH_REACHED
$STATE,1073,begin surface coast
$FINISH,0.1,1.024360
$STATE,1095,end surface coast,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$SM_CCo,1199,0.00,0.000,0,0,1901,501.42
$SM_GC,0.43,27.73,0.52,0.00,0.020,0.032,0.000,240,1984,1901,-6.55,-1.50,501.42,0,0,0,0,0,0,26.14,26.15,26.17
$IRIDIUM_FIX,6149.06,-17422.35,240817,071941
$TT8_MAMPS,0.025466,0.105609
$HUMID,53.70
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.91,45.763
$10V_AH,10.38,45.039
$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,45.600,12.250,55.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.097,339.161,148.512,240.372,97.631,0.000,318.508,0.000,249.749,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1257.660,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10809,166
$CAP_FILE_SIZE,27615,0
$CFSIZE,1024409600,940326912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,083133,6114.256,-17352.715,8,0.8,38,7.0,0.3,130.3,10,4.4