version: 66.13
glider: 401
mission: 22
dive: 1668
start: 8 25 117 7 13 22
data:
$ID,401
$MISSION,22
$DIVE,1668
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,250817,063215,6107.0391,-17354.4355,5,0.9,17,7.0,0.0,315.7,9,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.6
$GPS2,250817,063215,6107.0391,-17354.4355,5,0.9,17,7.0,0.0,315.7,9,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W18S
$TGT_LATLONG,6044.340,-17338.881
$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,154.5,44334,-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,-487.5,2385,1971,2379,4092,0.0,0.0,0,21,6.18,0.00,-2.30,0.000,20482,0.028,0.000,1787,1973,2630,2630,4094,0,0,0,0,0,0,26.16,28.83,26.21,10.34,52.79
$GC,26,-1.78,-487.5,1786,1968,2630,4094,0.1,0.0,1,36,0.00,1.08,-3.95,0.000,16644,0.000,1.254,1786,2364,3055,3055,4095,0,0,0,0,0,0,26.42,24.49,26.42,10.39,53.26
$GC,295,-1.78,-487.5,1786,2363,3062,4095,34.9,-12.5,40,304,0.00,1.05,0.00,0.000,1030,0.000,0.031,1786,1944,3062,3062,4095,0,0,0,0,0,0,26.24,26.17,26.25,10.44,51.61
$GC,344,-1.78,-487.5,1785,1944,3064,4095,41.0,-12.6,46,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1944,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.43,50.59
$GC,392,-1.78,-487.5,1786,1944,3065,4095,46.9,-12.0,52,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1944,3065,3065,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,50.03
$GC,441,-1.78,-487.5,1786,1944,3066,4095,52.9,-11.9,58,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1943,3066,3066,4095,0,0,0,0,0,0,26.58,26.58,26.58,10.40,49.68
$GC,489,-1.78,-487.5,1786,1944,3067,4095,58.8,-12.1,64,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1944,3067,3067,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.39,49.17
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,516,-0.45,0.0,1786,2134,3068,4094,61.5,-12.1,66,552,4.28,0.00,28.25,1.326,10244,0.052,0.000,2187,2134,2484,2484,4094,0,0,0,0,0,0,26.21,25.37,24.32,10.38,48.46
$STATE,553,end apogee,CONTROL_FINISHED_OK
$STATE,553,begin climb
$GC,557,1.78,487.5,2186,2133,2484,4094,64.5,0.0,70,602,7.50,0.00,27.90,1.287,11270,0.030,0.000,2893,2134,1916,1916,4094,0,0,0,0,0,0,25.63,25.79,23.90,10.26,48.54
$GC,642,1.78,487.5,2893,2133,1915,4094,57.1,13.7,80,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1915,1915,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.14,46.37
$GC,691,1.78,487.5,2893,2133,1913,4094,50.3,13.7,86,700,0.00,1.12,0.00,0.000,516,0.000,0.045,2894,1715,1913,1913,4095,0,0,0,0,0,0,25.82,25.47,25.83,10.13,46.85
$GC,806,1.78,487.5,2893,1714,1910,4095,34.7,13.3,102,815,0.00,1.02,0.00,0.000,1030,0.000,0.030,2894,2130,1909,1909,4094,0,0,0,0,0,0,25.82,25.78,25.84,10.13,47.67
$GC,855,1.78,487.5,2893,2129,1908,4094,28.1,13.2,108,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,1909,1909,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.14,48.14
$GC,904,1.78,487.5,2893,2129,1906,4094,22.2,11.8,114,913,0.00,1.08,0.00,0.000,516,0.000,0.047,2894,1719,1907,1907,4094,0,0,0,0,0,0,26.22,25.84,26.23,10.16,49.25
$GC,990,1.78,487.5,2893,1718,1905,4094,13.0,11.0,126,1000,0.00,1.00,0.00,0.000,1030,0.000,0.029,2894,2128,1904,1904,4095,0,0,0,0,0,0,26.04,26.01,26.08,10.20,51.26
$GC,1038,1.78,487.5,2893,2128,1903,4095,7.6,11.3,132,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2128,1903,1903,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.20,51.29
$GC,1086,1.83,519.3,2893,2127,1902,4094,2.4,10.1,138,1096,0.00,1.08,3.00,0.256,8708,0.000,0.041,2894,1713,1876,1876,4094,0,0,0,0,0,0,26.39,25.39,24.85,10.21,52.32
$STATE,1104,end climb,SURFACE_DEPTH_REACHED
$STATE,1104,begin surface coast
$FINISH,0.2,1.024248
$STATE,1125,end surface coast,CONTROL_FINISHED_OK
$STATE,1125,begin surface
$SM_CCo,1229,0.00,0.000,0,0,1875,523.75
$SM_GC,0.94,27.62,0.60,0.00,0.020,0.034,0.000,231,1963,1875,-6.59,-1.14,523.75,0,0,0,0,0,0,26.01,26.13,26.09
$IRIDIUM_FIX,6149.06,-17422.35,250817,062508
$TT8_MAMPS,0.025466,0.255409
$HUMID,52.79
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.90,47.380
$10V_AH,10.15,46.385
$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,45.575,9.100,59.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,410.900,59.994,126.474,599.265,100.060,0.000,340.825,0.000,348.897,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1253.835,1325.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.816,388.454,307.450,455.903,597.395,0.000,0.000,0.000,0.000,0.000
$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,14311,143
$CAP_FILE_SIZE,25539,0
$CFSIZE,1024409600,937525248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,073523,6107.139,-17353.961,5,0.9,50,7.0,0.4,43.8,8,3.0