version: 66.13
glider: 401
mission: 22
dive: 1689
start: 8 25 117 16 15 10
data:
$ID,401
$MISSION,22
$DIVE,1689
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,250817,153432,6104.4917,-17354.2090,7,0.9,27,7.0,0.6,318.6,9,4.5
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.7
$GPS2,250817,153432,6104.4917,-17354.2090,7,0.9,27,7.0,0.6,318.6,9,4.5
$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,152.6,39817,-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,-487.5,2388,1959,2366,4092,0.0,0.0,0,18,5.75,0.00,0.00,0.000,4097,0.021,0.000,1823,1960,2365,2365,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.34,52.24
$GC,23,-1.78,-487.5,1822,1959,2366,4094,0.1,0.0,1,36,0.30,1.20,-6.35,0.000,20996,0.037,1.261,1782,1516,3056,3056,4095,0,0,0,0,0,0,26.11,24.39,26.13,10.34,52.20
$GC,246,-1.78,-487.5,1781,1516,3061,4095,27.9,-14.4,37,253,0.00,1.05,0.00,0.000,1030,0.000,0.027,1782,1960,3061,3061,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.47,51.61
$GC,287,-1.78,-487.5,1781,1961,3062,4095,33.1,-13.0,43,293,0.00,1.08,0.00,0.000,260,0.000,0.045,1782,2372,3062,3062,4095,0,0,0,0,0,0,26.46,26.08,26.46,10.45,52.24
$GC,333,-1.78,-487.5,1781,2372,3063,4095,38.9,-12.6,50,340,0.00,1.08,0.00,0.000,1030,0.000,0.031,1782,1941,3063,3063,4095,0,0,0,0,0,0,26.19,26.15,26.22,10.43,50.90
$GC,374,-1.78,-487.5,1781,1940,3064,4095,44.1,-12.7,56,381,0.00,1.05,0.00,0.000,516,0.000,0.052,1782,1524,3064,3064,4095,0,0,0,0,0,0,26.50,26.09,26.51,10.41,50.03
$GC,427,-1.78,-487.5,1781,1524,3066,4095,50.8,-12.9,64,433,0.00,0.98,0.00,0.000,1030,0.000,0.027,1782,1945,3066,3066,4095,0,0,0,0,0,0,26.27,26.25,26.30,10.40,50.23
$GC,467,-1.78,-487.5,1781,1945,3066,4095,56.1,-13.1,70,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1945,3066,3066,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.40,49.05
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,507,-0.45,0.0,1782,2137,3067,4095,60.5,-12.4,75,543,4.32,0.00,28.08,1.294,10244,0.053,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.17,25.34,24.31,10.39,48.97
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,549,1.78,487.5,2186,2137,2484,4094,63.5,0.0,81,591,7.47,0.00,27.73,1.268,11270,0.030,0.000,2893,2138,1916,1916,4095,0,0,0,0,0,0,25.61,25.78,23.92,10.26,47.99
$GC,625,1.78,487.5,2893,2137,1915,4095,57.0,12.7,93,632,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1716,1915,1915,4094,0,0,0,0,0,0,25.58,25.29,25.59,10.14,46.61
$GC,714,1.78,487.5,2893,1715,1912,4094,45.4,13.4,107,721,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2128,1912,1912,4094,0,0,0,0,0,0,25.66,25.63,25.68,10.13,47.28
$GC,755,1.78,487.5,2893,2128,1911,4094,40.0,13.2,113,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2128,1911,1911,4094,0,0,0,0,0,0,26.01,26.01,26.01,10.13,48.11
$GC,794,1.78,487.5,2893,2127,1910,4094,34.8,13.1,119,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2128,1910,1910,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,48.85
$GC,834,1.78,487.5,2893,2128,1909,4094,29.9,12.0,125,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2128,1908,1908,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.13,48.85
$GC,874,1.78,487.5,2893,2127,1907,4094,25.1,11.8,131,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2128,1907,1907,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.16,48.97
$GC,914,1.78,487.5,2893,2128,1906,4094,20.4,12.2,137,920,0.00,1.10,0.00,0.000,516,0.000,0.045,2894,1712,1906,1906,4094,0,0,0,0,0,0,26.25,25.86,26.26,10.17,50.19
$GC,1008,1.78,487.5,2893,1711,1904,4094,9.6,11.2,152,1015,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2134,1904,1904,4094,0,0,0,0,0,0,26.06,26.03,26.10,10.20,52.52
$GC,1049,1.78,487.5,2893,2133,1902,4094,5.0,11.7,158,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1902,1902,4094,0,0,0,0,0,0,26.36,26.37,26.38,10.21,52.44
$STATE,1072,end climb,SURFACE_DEPTH_REACHED
$STATE,1072,begin surface coast
$FINISH,0.5,1.024200
$STATE,1085,end surface coast,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$SM_CCo,1190,0.00,0.000,0,0,1901,501.42
$SM_GC,0.98,27.58,0.47,0.00,0.020,0.043,0.000,237,1944,1901,-6.55,1.32,501.42,0,0,0,0,0,0,26.16,26.10,26.20
$IRIDIUM_FIX,6149.06,-17422.35,250817,152619
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.38
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.92,48.002
$10V_AH,10.39,46.898
$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,45.425,12.100,55.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.468,331.144,152.522,237.545,101.639,0.000,323.349,0.000,246.988,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1260.720,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,10828,164
$CAP_FILE_SIZE,28253,0
$CFSIZE,1024409600,936493056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,163601,6104.266,-17354.584,5,1.0,19,7.0,0.3,283.0,9,4.9