version: 66.13
glider: 401
mission: 22
dive: 1650
start: 8 25 117 0 2 30
data:
$ID,401
$MISSION,22
$DIVE,1650
$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,54
$R_STBD_OVSHOOT,20
$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
$GPS1,240817,232154,6108.6499,-17351.5957,5,1.0,50,7.0,0.3,242.8,10,5.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.4
$GPS2,240817,232154,6108.6499,-17351.5957,5,1.0,50,7.0,0.3,242.8,10,5.9
$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,162.2,8843,-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,-487.5,2383,1917,2388,4092,0.0,0.0,0,21,6.18,0.00,-2.20,0.000,20482,0.021,0.000,1772,1918,2625,2625,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.33,53.42
$GC,26,-1.78,-487.5,1772,1917,2625,4094,0.0,0.0,1,37,0.00,1.30,-3.90,0.000,16644,0.000,1.257,1771,2384,3055,3055,4095,0,0,0,0,0,0,26.43,24.52,26.44,10.38,53.38
$GC,230,-1.78,-487.5,1771,2384,3060,4095,28.5,-13.9,30,239,0.00,1.02,0.00,0.000,1030,0.000,0.030,1772,1977,3061,3061,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.45,52.67
$GC,279,-1.78,-487.5,1771,1977,3062,4095,35.2,-14.0,36,289,0.00,1.17,0.00,0.000,516,0.000,0.051,1771,1516,3062,3062,4094,0,0,0,0,0,0,26.51,26.10,26.51,10.43,51.85
$GC,353,-1.78,-487.5,1771,1516,3064,4094,45.5,-13.2,46,362,0.00,1.05,0.00,0.000,1030,0.000,0.028,1772,1961,3064,3064,4095,0,0,0,0,0,0,26.29,26.25,26.30,10.40,50.15
$GC,401,-1.78,-487.5,1771,1960,3065,4095,51.5,-12.2,52,410,0.00,1.08,0.00,0.000,260,0.000,0.046,1771,2374,3065,3065,4095,0,0,0,0,0,0,26.55,26.17,26.57,10.40,50.35
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,481,-0.45,0.0,1771,2111,3068,4095,60.8,-13.0,62,517,4.43,0.00,28.20,1.320,10244,0.054,0.000,2186,2110,2484,2484,4095,0,0,0,0,0,0,26.20,25.36,24.32,10.38,49.37
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,523,1.78,487.5,2185,2110,2484,4095,64.1,0.0,66,567,7.47,0.00,27.90,1.284,11270,0.031,0.000,2892,2110,1916,1916,4095,0,0,0,0,0,0,25.62,25.79,23.91,10.26,48.38
$GC,607,1.78,487.5,2891,2110,1915,4095,57.0,13.3,76,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2110,1915,1915,4094,0,0,0,0,0,0,25.63,25.63,25.63,10.13,46.73
$GC,656,1.78,487.5,2891,2110,1913,4094,50.2,14.0,82,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2110,1913,1913,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.12,46.96
$GC,704,1.78,487.5,2892,2110,1912,4094,43.3,14.3,88,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2110,1912,1912,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.12,47.44
$GC,752,1.78,487.5,2891,2109,1910,4094,36.8,13.5,94,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2110,1910,1910,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.13,47.04
$GC,801,1.78,487.5,2891,2109,1909,4094,30.3,12.9,100,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2110,1908,1908,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,47.63
$GC,849,1.78,487.5,2891,2108,1907,4094,24.3,12.6,106,858,0.00,0.98,0.00,0.000,516,0.000,0.046,2892,1732,1907,1907,4094,0,0,0,0,0,0,26.19,25.82,26.20,10.15,48.70
$GC,981,1.78,487.5,2891,1732,1904,4094,9.0,11.4,125,990,0.00,0.98,0.00,0.000,1030,0.000,0.029,2892,2133,1903,1903,4094,0,0,0,0,0,0,26.04,26.02,26.08,10.19,51.73
$GC,1029,1.78,487.5,2891,2132,1902,4094,3.6,11.5,131,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2133,1902,1902,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.20,52.12
$STATE,1045,end climb,SURFACE_DEPTH_REACHED
$STATE,1045,begin surface coast
$FINISH,0.1,1.023798
$STATE,1067,end surface coast,CONTROL_FINISHED_OK
$STATE,1067,begin surface
$SM_CCo,1171,0.00,0.000,0,0,1901,501.42
$SM_GC,0.96,27.60,0.43,0.00,0.021,0.045,0.000,231,1970,1901,-6.59,2.19,501.42,0,0,0,0,0,0,26.07,26.09,26.13
$IRIDIUM_FIX,6149.06,-17422.35,240817,231453
$TT8_MAMPS,0.024717,0.258405
$HUMID,51.85
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.91,46.880
$10V_AH,10.14,45.968
$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,45.675,9.050,56.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,390.746,60.339,122.460,569.340,94.944,0.000,327.610,0.000,331.605,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1256.895,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.985,369.474,292.350,433.697,568.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14375,136
$CAP_FILE_SIZE,24173,0
$CFSIZE,1024409600,938409984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,002258,6107.979,-17352.064,8,0.8,15,7.0,0.0,225.2,10,5.0