version: 66.13
glider: 401
mission: 22
dive: 1808
start: 8 27 117 17 10 24
data:
$ID,401
$MISSION,22
$DIVE,1808
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$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
$GPS1,270817,164930,6049.6084,-17347.7012,6,0.7,13,7.0,0.0,260.6,12,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-4.8
$GPS2,270817,164930,6049.6084,-17347.7012,6,0.7,13,7.0,0.0,260.6,12,4.7
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W19S
$TGT_LATLONG,6025.500,-17335.520
$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,159.0,46016,-10.3,-10.526,-13.92,8308
$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,11,-1.82,-585.0,2385,1954,2380,4092,0.0,0.0,0,21,6.22,0.00,-1.27,0.000,20482,0.022,0.000,1777,1955,2520,2520,4094,0,0,0,0,0,0,26.13,28.83,26.20,10.35,52.63
$GC,26,-1.82,-585.0,1776,1954,2519,4094,0.2,0.0,1,37,0.00,1.23,-5.88,0.000,16900,0.000,1.260,1777,1514,3171,3171,4095,0,0,0,0,0,0,26.44,24.32,26.45,10.38,53.22
$GC,216,-1.82,-585.0,1776,1514,3176,4095,24.4,-13.5,28,225,0.00,1.02,0.00,0.000,1030,0.000,0.026,1777,1953,3176,3176,4095,0,0,0,0,0,0,26.25,26.25,26.27,10.51,52.48
$GC,264,-1.82,-585.0,1776,1952,3177,4095,30.9,-12.7,34,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1953,3177,3177,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.48,52.04
$GC,309,-1.82,-585.0,1776,1953,3178,4095,36.8,-12.9,40,319,0.00,1.08,0.00,0.000,260,0.000,0.044,1777,2364,3178,3178,4095,0,0,0,0,0,0,26.55,26.13,26.55,10.47,50.94
$GC,423,-1.82,-585.0,1776,2364,3181,4095,50.9,-12.2,56,432,0.00,1.02,0.00,0.000,1030,0.000,0.030,1776,1952,3181,3181,4095,0,0,0,0,0,0,26.29,26.24,26.31,10.42,49.33
$GC,470,-1.82,-585.0,1775,1952,3182,4095,56.9,-13.2,62,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1952,3182,3182,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.42,48.89
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,505,-0.45,0.0,1776,2137,3182,4094,60.4,-12.9,65,549,4.38,0.00,33.47,1.320,10244,0.051,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.21,24.94,24.20,10.41,48.97
$STATE,550,end apogee,CONTROL_FINISHED_OK
$STATE,550,begin climb
$GC,555,1.82,585.0,2186,2137,2484,4094,64.1,0.0,70,601,7.60,1.12,33.22,1.284,10500,0.029,0.050,2903,2557,1801,1801,4094,0,0,0,0,0,0,25.46,25.39,23.79,10.27,47.99
$GC,614,1.90,641.0,2903,2557,1801,4094,60.5,9.8,76,625,0.20,1.08,4.80,0.780,11270,0.031,0.025,2932,2133,1736,1736,4094,0,0,0,0,0,0,25.13,25.12,23.87,10.12,46.77
$GC,665,1.90,641.0,2932,2132,1735,4094,53.7,13.8,82,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2133,1734,1734,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.10,46.69
$GC,714,1.90,641.0,2932,2132,1732,4094,46.4,14.7,88,729,0.00,1.05,0.00,0.000,516,0.000,0.044,2932,1721,1733,1733,4094,0,0,0,0,0,0,25.79,25.43,25.79,10.10,46.49
$GC,794,1.90,641.0,2932,1720,1731,4094,34.7,13.5,98,803,0.00,1.00,0.00,0.000,1030,0.000,0.029,2933,2126,1730,1730,4094,0,0,0,0,0,0,25.71,25.73,25.76,10.10,47.00
$GC,842,1.90,641.0,2932,2125,1729,4094,28.1,13.6,104,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2126,1729,1729,4095,0,0,0,0,0,0,26.09,26.10,26.10,10.11,47.63
$GC,889,1.90,641.0,2932,2126,1728,4095,21.6,13.1,110,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2126,1727,1727,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.13,48.77
$GC,936,1.90,641.0,2932,2126,1726,4094,15.6,12.5,116,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2126,1726,1726,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.16,50.43
$GC,983,1.90,641.0,2932,2126,1725,4094,9.9,11.9,122,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2126,1724,1724,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.16,51.49
$GC,1030,1.90,641.0,2932,2125,1723,4094,3.8,13.1,128,1040,0.00,1.08,0.00,0.000,516,0.000,0.042,2932,1715,1722,1722,4094,0,0,0,0,0,0,26.32,25.91,26.33,10.18,51.65
$STATE,1049,end climb,FINISH_DEPTH_REACHED
$STATE,1049,begin subsurface finish
$FINISH1,0.8,1.024289,91
$GC,1062,0.14,91.3,2932,2137,1722,4094,0.8,13.4,130,1082,5.60,1.15,-5.90,0.000,20996,0.024,1.242,2385,1725,2383,2383,4094,0,0,0,0,0,0,26.07,24.36,26.12,10.18,52.91
$FINISH2,0.1
$STATE,1083,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,153041
$TT8_MAMPS,0.025466,0.247919
$HUMID,52.95
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.79,51.834
$10V_AH,10.16,49.739
$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,24.000,12.800,71.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,372.644,0.383,116.393,549.262,106.516,0.000,343.099,0.000,321.958,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1259.955,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.535,358.665,283.801,420.323,547.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,14417,132
$CAP_FILE_SIZE,25769,0
$CFSIZE,1024409600,930643968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,714.42,0x236164,1,24
$GPS,270817,164930,6049.608,-17347.701,6,0.7,13,7.0,0.0,260.6,12,4.7