version: 66.13
glider: 401
mission: 22
dive: 1613
start: 8 24 117 9 4 19
data:
$ID,401
$MISSION,22
$DIVE,1613
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,240817,084321,6114.2700,-17352.5566,5,0.8,15,7.0,0.0,77.9,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-5.7
$GPS2,240817,084321,6114.2700,-17352.5566,5,0.8,15,7.0,0.0,77.9,10,4.8
$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,165.5,19260,-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,-487.5,2383,1948,2387,4092,0.0,0.0,0,17,5.60,0.00,0.00,0.000,4097,0.022,0.000,1836,1947,2387,2387,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.34,51.96
$GC,22,-1.78,-487.5,1835,1947,2387,4094,0.1,0.0,1,35,0.43,1.15,-5.93,0.000,20996,0.034,1.256,1785,1516,3053,3053,4094,0,0,0,0,0,0,26.11,24.44,26.13,10.34,52.59
$GC,239,-1.78,-487.5,1785,1516,3059,4094,28.6,-13.4,36,246,0.00,1.05,0.00,0.000,1030,0.000,0.027,1786,1960,3059,3059,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.44,51.29
$GC,280,-1.78,-487.5,1785,1959,3060,4094,33.8,-12.8,42,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1960,3060,3060,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.42,51.18
$GC,319,-1.78,-487.5,1785,1959,3061,4095,39.1,-13.4,48,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1960,3061,3061,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.41,50.51
$GC,359,-1.78,-487.5,1785,1960,3062,4095,44.2,-12.9,54,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1960,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.39,49.96
$GC,399,-1.78,-487.5,1785,1960,3063,4095,48.9,-11.7,60,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1960,3063,3063,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.38,49.76
$GC,438,-1.78,-487.5,1785,1961,3064,4095,53.7,-12.5,66,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1961,3064,3064,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.38,48.54
$GC,478,-1.78,-487.5,1785,1960,3065,4094,58.8,-12.7,72,484,0.00,1.08,0.00,0.000,260,0.000,0.045,1785,2373,3065,3065,4095,0,0,0,0,0,0,26.55,26.17,26.55,10.38,48.58
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,500,-0.45,0.0,1785,2105,3066,4095,60.8,-12.8,74,536,4.30,0.00,28.10,1.322,10244,0.054,0.000,2185,2105,2484,2484,4095,0,0,0,0,0,0,26.17,25.33,24.30,10.37,49.01
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,541,1.78,487.5,2185,2104,2484,4095,63.7,0.0,80,584,7.45,0.95,27.85,1.286,10756,0.030,0.045,2895,1732,1916,1916,4095,0,0,0,0,0,0,25.53,25.48,23.89,10.24,47.79
$GC,611,1.78,487.5,2894,1732,1915,4095,58.1,12.0,91,618,0.00,1.00,0.00,0.000,1030,0.000,0.030,2895,2129,1915,1915,4094,0,0,0,0,0,0,25.31,25.27,25.33,10.12,46.57
$GC,652,1.78,487.5,2894,2129,1914,4094,52.6,13.8,97,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2129,1913,1913,4094,0,0,0,0,0,0,25.71,25.73,25.72,10.11,46.88
$GC,692,1.78,487.5,2894,2129,1913,4094,46.9,14.0,103,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2129,1912,1912,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.10,46.41
$GC,732,1.78,487.5,2894,2129,1911,4094,41.4,13.8,109,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2129,1911,1911,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.11,47.24
$GC,771,1.78,487.5,2895,2129,1910,4094,36.1,13.5,115,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2129,1910,1910,4094,0,0,0,0,0,0,26.02,26.04,26.03,10.10,47.16
$GC,811,1.78,487.5,2894,2129,1908,4094,31.0,12.5,121,817,0.00,1.05,0.00,0.000,516,0.000,0.045,2895,1734,1908,1908,4095,0,0,0,0,0,0,26.09,25.73,26.10,10.11,47.99
$GC,911,1.78,487.5,2894,1733,1906,4095,18.8,11.9,137,918,0.00,1.00,0.00,0.000,1030,0.000,0.031,2895,2140,1905,1905,4094,0,0,0,0,0,0,25.94,25.92,25.99,10.15,49.60
$GC,951,1.78,487.5,2894,2140,1905,4094,14.2,11.3,143,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2140,1904,1904,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.17,51.29
$GC,991,1.78,487.5,2895,2140,1904,4094,9.8,11.1,149,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2140,1903,1903,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,51.92
$GC,1030,1.78,487.5,2895,2140,1902,4094,5.1,12.1,155,1037,0.00,1.05,0.00,0.000,516,0.000,0.048,2895,1738,1902,1902,4095,0,0,0,0,0,0,26.34,25.96,26.34,10.19,52.63
$STATE,1055,end climb,FINISH_DEPTH_REACHED
$STATE,1055,begin subsurface finish
$FINISH1,1.8,1.024367,86
$GC,1067,0.13,85.9,2895,2138,1901,4094,1.8,11.8,159,1081,5.38,1.12,-4.35,0.000,20996,0.037,1.255,2378,1734,2389,2389,4094,0,0,0,0,0,0,26.12,24.38,26.16,10.19,53.07
$FINISH2,0.2
$STATE,1082,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1082,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,083642
$TT8_MAMPS,0.025466,0.109354
$HUMID,52.95
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.89,45.826
$10V_AH,10.38,45.089
$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,23.150,11.625,55.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.744,251.629,140.370,234.059,97.661,0.000,315.140,0.000,242.659,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1256.130,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330664
$DATA_FILE_SIZE,10750,161
$CAP_FILE_SIZE,27603,0
$CFSIZE,1024409600,940228608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,084321,6114.270,-17352.557,5,0.8,15,7.0,0.0,77.9,10,4.8