version: 66.13
glider: 401
mission: 22
dive: 1811
start: 8 27 117 18 20 30
data:
$ID,401
$MISSION,22
$DIVE,1811
$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,56
$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
$GPS1,270817,175947,6049.1880,-17348.4902,7,0.8,15,7.0,0.0,331.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.9
$GPS2,270817,175947,6049.1880,-17348.4902,7,0.8,15,7.0,0.0,331.3,10,5.0
$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,157.9,45444,-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,-585.0,2376,1944,2385,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.024,0.000,1823,1944,2385,2385,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.35,52.59
$GC,23,-1.82,-585.0,1823,1944,2385,4095,0.2,0.0,1,37,0.43,1.20,-7.38,0.000,20996,0.038,1.258,1774,1520,3173,3173,4094,0,0,0,0,0,0,26.09,24.31,26.12,10.36,51.96
$GC,212,-1.82,-585.0,1773,1520,3177,4094,23.5,-15.3,31,218,0.00,0.95,0.00,0.000,1030,0.000,0.026,1773,1933,3177,3177,4094,0,0,0,0,0,0,26.19,26.17,26.21,10.51,51.73
$GC,252,-1.82,-585.0,1773,1933,3178,4094,29.0,-14.2,37,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1933,3178,3178,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.49,52.52
$GC,292,-1.82,-585.0,1773,1934,3179,4095,34.5,-13.5,43,299,0.00,1.12,0.00,0.000,260,0.000,0.044,1774,2363,3180,3180,4095,0,0,0,0,0,0,26.48,26.08,26.49,10.47,51.29
$GC,381,-1.82,-585.0,1773,2363,3181,4095,45.7,-12.1,57,388,0.00,1.02,0.00,0.000,1030,0.000,0.029,1773,1953,3181,3181,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.44,49.64
$GC,422,-1.82,-585.0,1773,1953,3183,4095,50.7,-12.3,63,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3182,3182,4095,0,0,0,0,0,0,26.54,26.56,26.55,10.43,49.56
$GC,462,-1.82,-585.0,1773,1953,3183,4095,55.7,-12.7,69,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1953,3183,3183,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,49.25
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,509,-0.45,0.0,1773,2135,3184,4094,60.6,-12.8,75,550,4.40,0.00,33.53,1.319,10244,0.050,0.000,2186,2135,2484,2484,4095,0,0,0,0,0,0,26.17,25.21,24.17,10.42,48.89
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,556,1.82,585.0,2186,2135,2484,4095,63.7,0.0,82,604,7.62,0.00,33.20,1.276,11270,0.030,0.000,2903,2135,1803,1803,4094,0,0,0,0,0,0,25.50,25.67,23.77,10.27,48.50
$GC,638,1.82,585.0,2903,2135,1802,4094,56.5,13.0,95,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1802,1802,4094,0,0,0,0,0,0,25.48,25.49,25.48,10.12,46.77
$GC,678,1.82,585.0,2903,2135,1801,4094,50.9,14.0,101,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1800,1800,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.11,47.08
$GC,718,1.82,585.0,2903,2135,1799,4094,45.4,13.4,107,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.11,47.12
$GC,758,1.82,585.0,2903,2135,1798,4094,40.0,13.2,113,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1798,1798,4094,0,0,0,0,0,0,25.93,25.95,25.94,10.10,47.95
$GC,798,1.82,585.0,2902,2135,1796,4094,34.8,12.7,119,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.10,47.24
$GC,838,1.82,585.0,2903,2135,1795,4094,29.6,12.8,125,845,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1711,1796,1796,4094,0,0,0,0,0,0,26.09,25.71,26.10,10.10,47.99
$GC,915,1.82,585.0,2903,1710,1793,4094,19.8,10.9,137,922,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2128,1793,1793,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.15,50.23
$GC,956,1.88,628.7,2903,2128,1792,4094,15.7,10.0,143,964,0.15,0.00,3.70,0.412,10246,0.056,0.000,2929,2129,1749,1749,4094,0,0,0,0,0,0,26.04,25.53,24.60,10.17,51.14
$GC,998,1.88,628.7,2928,2128,1748,4094,10.8,12.0,149,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2129,1748,1748,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.17,52.16
$GC,1038,1.88,628.7,2928,2128,1747,4094,6.1,11.6,155,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2128,1747,1747,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.18,52.08
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1068,begin subsurface finish
$FINISH1,1.8,1.024317,89
$GC,1079,0.13,89.4,2929,2128,1746,4094,1.8,12.6,160,1098,5.82,1.15,-5.57,0.000,20996,0.050,1.242,2389,1716,2384,2384,4094,0,0,0,0,0,0,25.98,24.33,26.04,10.18,52.52
$FINISH2,0.3
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,164258
$TT8_MAMPS,0.025466,0.113848
$HUMID,53.18
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.77,51.926
$10V_AH,10.37,49.798
$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,24.050,8.625,70.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,418.362,253.718,148.418,236.839,104.492,0.000,324.890,0.000,245.610,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1257.660,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10802,163
$CAP_FILE_SIZE,26861,0
$CFSIZE,1024409600,930496512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,175947,6049.188,-17348.490,7,0.8,15,7.0,0.0,331.3,10,5.0