version: 66.13
glider: 401
mission: 22
dive: 1831
start: 8 28 117 2 34 37
data:
$ID,401
$MISSION,22
$DIVE,1831
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,280817,022352,6046.2622,-17345.5039,8,0.7,14,7.0,0.0,230.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-35.8
$GPS2,280817,023359,6046.1953,-17345.6191,7,0.9,30,7.0,0.4,231.8,9,5.0
$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,159.5,39424,-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,6,begin dive
$GC,11,-1.82,-585.0,239,1969,1786,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.084,0.000,725,1970,1786,1786,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.81
$GC,24,-1.82,-585.0,724,1970,1786,4094,0.7,0.0,1,54,10.93,1.20,-12.85,0.000,18948,0.041,1.250,1751,1523,3169,3169,4095,0,0,0,0,0,0,25.86,24.20,25.95,10.26,51.65
$GC,259,-1.82,-585.0,1750,1522,3174,4095,28.2,-13.8,39,266,0.00,1.00,0.00,0.000,1030,0.000,0.026,1751,1951,3174,3174,4095,0,0,0,0,0,0,26.12,26.10,26.15,10.53,50.27
$GC,300,-1.82,-585.0,1750,1950,3175,4095,33.8,-13.6,45,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1950,3176,3176,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.49,50.07
$GC,340,-1.82,-585.0,1750,1951,3176,4094,38.8,-12.4,51,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1951,3176,3176,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.48,49.48
$GC,380,-1.82,-585.0,1750,1952,3177,4094,43.9,-12.6,57,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1952,3177,3177,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,48.81
$GC,420,-1.82,-585.0,1750,1952,3178,4095,49.2,-13.1,63,427,0.00,1.08,0.00,0.000,260,0.000,0.044,1751,2364,3178,3178,4094,0,0,0,0,0,0,26.48,26.07,26.50,10.45,47.95
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,510,-0.45,0.0,1751,2112,3179,4095,60.1,-13.3,76,551,4.68,0.00,33.38,1.317,10244,0.052,0.000,2186,2111,2484,2484,4094,0,0,0,0,0,0,26.11,25.17,24.11,10.43,47.48
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,552,begin climb
$GC,557,1.82,585.0,2186,2111,2484,4094,63.3,0.0,83,605,7.60,0.00,33.22,1.280,11270,0.029,0.000,2903,2111,1802,1802,4094,0,0,0,0,0,0,25.48,25.63,23.74,10.29,47.44
$GC,639,1.82,585.0,2902,2111,1801,4094,56.2,12.9,96,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.47,10.14,45.74
$GC,679,1.82,585.0,2903,2111,1799,4094,50.6,13.8,102,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1799,1799,4094,0,0,0,0,0,0,25.67,25.67,25.67,10.13,45.66
$GC,719,1.82,585.0,2902,2111,1799,4094,45.3,13.1,108,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1798,1798,4094,0,0,0,0,0,0,25.82,25.82,25.82,10.12,46.22
$GC,759,1.82,585.0,2902,2111,1796,4094,39.8,13.7,114,766,0.00,0.98,0.00,0.000,516,0.000,0.045,2903,1736,1796,1796,4094,0,0,0,0,0,0,25.92,25.56,25.94,10.12,46.14
$GC,890,1.82,585.0,2902,1735,1793,4094,22.6,12.8,135,896,0.00,0.95,0.00,0.000,1030,0.000,0.029,2903,2124,1793,1793,4094,0,0,0,0,0,0,25.89,25.84,25.92,10.15,48.22
$GC,931,1.82,585.0,2902,2124,1791,4094,17.8,11.6,141,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1791,1791,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.17,49.60
$GC,971,1.86,612.2,2903,2124,1790,4094,13.5,10.2,147,978,0.00,0.00,2.75,0.245,8198,0.000,0.000,2903,2124,1770,1770,4094,0,0,0,0,0,0,26.27,25.48,24.53,10.17,50.66
$GC,1012,1.86,612.2,2902,2124,1769,4094,9.2,11.2,153,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1768,1768,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,51.41
$GC,1052,1.90,641.3,2902,2124,1768,4094,4.9,10.2,159,1061,0.20,1.02,3.25,0.295,10756,0.047,0.041,2934,1731,1735,1735,4094,0,0,0,0,0,0,26.10,25.65,24.70,10.20,51.96
$STATE,1079,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.6,1.024230,95
$GC,1092,0.14,95.5,2933,2142,1733,4094,1.6,10.7,163,1111,5.57,1.10,-5.72,0.000,20996,0.021,1.242,2386,1740,2379,2379,4094,0,0,0,0,0,0,26.06,24.22,26.11,10.20,52.55
$FINISH2,0.1
$STATE,1112,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1112,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,011619
$TT8_MAMPS,0.025466,0.134071
$HUMID,52.71
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.74,52.575
$10V_AH,10.31,50.274
$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,34.575,8.950,72.600,0.000,0.000,23.333,21.416,296.546,0.000,0.000,31.292,429.166,261.697,155.000,561.551,320.425,0.000,336.812,0.000,251.278,0.000,0.543,0.000
$DEVICE_MAMPS,84.150,1250.010,1316.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329288
$DATA_FILE_SIZE,10842,166
$CAP_FILE_SIZE,30900,0
$CFSIZE,1024409600,929513472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,023359,6046.195,-17345.619,7,0.9,30,7.0,0.4,231.8,9,5.0