version: 66.13
glider: 401
mission: 22
dive: 1651
start: 8 25 117 0 34 52
data:
$ID,401
$MISSION,22
$DIVE,1651
$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,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
$GPS1,250817,002258,6107.9795,-17352.0645,8,0.8,15,7.0,0.0,225.2,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-41.2
$GPS2,250817,003412,6107.9541,-17352.1816,5,0.8,17,7.0,0.6,109.3,11,5.0
$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,156.5,7714,-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,-487.5,230,1967,1901,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.097,0.000,708,1968,1901,1901,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.27,51.02
$GC,23,-1.78,-487.5,708,1967,1901,4094,0.7,0.0,1,53,11.50,1.15,-10.68,0.000,18692,0.052,1.241,1763,2378,3056,3056,4095,0,0,0,0,0,0,25.86,24.22,25.94,10.27,50.90
$GC,287,-1.78,-487.5,1762,2377,3062,4095,34.1,-14.4,44,294,0.00,1.08,0.00,0.000,1030,0.000,0.030,1763,1947,3062,3062,4094,0,0,0,0,0,0,26.08,26.05,26.11,10.47,49.33
$GC,328,-1.78,-487.5,1763,1946,3064,4094,39.6,-14.2,50,334,0.00,1.08,0.00,0.000,516,0.000,0.050,1763,1521,3064,3064,4095,0,0,0,0,0,0,26.41,26.01,26.41,10.45,49.21
$GC,392,-1.78,-487.5,1763,1521,3065,4095,48.5,-13.4,60,399,0.00,1.00,0.00,0.000,1030,0.000,0.025,1763,1952,3064,3064,4095,0,0,0,0,0,0,26.20,26.18,26.22,10.43,48.26
$GC,433,-1.78,-487.5,1763,1952,3066,4095,53.8,-13.3,66,444,0.00,1.05,0.00,0.000,260,0.000,0.046,1764,2362,3066,3066,4095,0,0,0,0,0,0,26.47,26.08,26.48,10.41,48.22
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,491,-0.45,0.0,1763,2117,3068,4094,60.7,-13.5,73,527,4.53,0.00,28.17,1.307,10244,0.053,0.000,2186,2118,2484,2484,4095,0,0,0,0,0,0,26.11,25.29,24.26,10.40,47.67
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.78,487.5,2186,2117,2484,4095,63.9,0.0,79,574,7.45,0.00,27.77,1.278,11270,0.030,0.000,2892,2118,1916,1916,4094,0,0,0,0,0,0,25.56,25.72,23.87,10.28,46.73
$GC,608,1.78,487.5,2892,2117,1915,4094,57.6,12.5,91,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2117,1915,1915,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.15,45.55
$GC,648,1.78,487.5,2892,2117,1913,4094,52.2,13.2,97,654,0.00,1.00,0.00,0.000,516,0.000,0.044,2893,1734,1913,1913,4094,0,0,0,0,0,0,25.73,25.41,25.75,10.15,45.27
$GC,688,1.78,487.5,2892,1733,1912,4094,46.7,13.5,103,695,0.00,0.95,0.00,0.000,1030,0.000,0.029,2893,2118,1912,1912,4094,0,0,0,0,0,0,25.61,25.58,25.65,10.15,46.02
$GC,729,1.78,487.5,2892,2118,1911,4094,41.1,13.9,109,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2118,1911,1911,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.15,46.57
$GC,769,1.78,487.5,2892,2118,1910,4094,35.8,13.6,115,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2118,1910,1910,4095,0,0,0,0,0,0,26.04,26.06,26.06,10.14,46.29
$GC,808,1.78,487.5,2892,2118,1908,4095,30.6,12.7,121,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2118,1907,1907,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.15,47.32
$GC,848,1.78,487.5,2892,2118,1907,4094,25.6,12.6,127,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1907,1907,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.15,47.48
$GC,887,1.78,487.5,2892,2118,1906,4094,20.7,12.4,133,894,0.00,1.02,0.00,0.000,516,0.000,0.044,2893,1729,1906,1906,4094,0,0,0,0,0,0,26.22,25.84,26.22,10.18,48.26
$GC,982,1.78,487.5,2892,1729,1903,4094,9.6,11.5,148,988,0.00,0.98,0.00,0.000,1030,0.000,0.030,2892,2130,1903,1903,4094,0,0,0,0,0,0,26.05,26.01,26.06,10.21,51.18
$GC,1022,1.78,487.5,2892,2130,1902,4094,5.1,11.2,154,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1902,1902,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.22,51.26
$STATE,1046,end climb,FINISH_DEPTH_REACHED
$STATE,1046,begin subsurface finish
$FINISH1,2.0,1.024322,89
$GC,1057,0.13,89.0,2893,2129,1901,4095,2.0,11.0,158,1070,5.47,0.00,-4.18,0.000,20486,0.057,0.000,2389,2132,2385,2385,4094,0,0,0,0,0,0,25.99,24.56,26.08,10.23,52.36
$FINISH2,0.1
$STATE,1071,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1071,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,002639
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.40
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.87,46.922
$10V_AH,10.28,45.985
$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,34.625,9.875,55.950,0.000,0.000,54.312,58.214,279.620,0.000,0.000,18.965,419.745,298.785,142.896,598.927,298.082,0.000,322.464,0.000,242.968,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1240.830,1306.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329276
$DATA_FILE_SIZE,10832,160
$CAP_FILE_SIZE,31463,0
$CFSIZE,1024409600,938360832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,433.16,0x236164,0,24
$GPS,250817,003412,6107.954,-17352.182,5,0.8,17,7.0,0.6,109.3,11,5.0