version: 66.13
glider: 401
mission: 22
dive: 1849
start: 8 28 117 9 57 38
data:
$ID,401
$MISSION,22
$DIVE,1849
$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,60
$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
$GPS1,280817,094436,6042.7607,-17346.4727,8,1.1,54,7.0,0.0,4.6,8,3.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-33.9
$GPS2,280817,095655,6042.7998,-17346.4355,7,0.8,19,7.0,0.5,323.2,10,5.0
$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,155.7,33557,-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,-585.0,238,1947,1786,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.089,0.000,723,1947,1786,1786,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.25,51.06
$GC,24,-1.82,-585.0,722,1947,1786,4094,0.7,0.0,1,55,11.02,1.15,-12.85,0.000,18948,0.042,1.249,1754,1520,3170,3170,4095,0,0,0,0,0,0,25.86,24.15,25.94,10.26,51.29
$GC,199,-1.82,-585.0,1753,1520,3175,4095,22.2,-17.0,29,206,0.00,0.95,0.00,0.000,1030,0.000,0.025,1754,1929,3175,3175,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.54,50.70
$GC,240,-1.82,-585.0,1753,1930,3174,4095,28.0,-14.3,35,247,0.00,1.15,0.00,0.000,260,0.000,0.044,1754,2367,3176,3176,4095,0,0,0,0,0,0,26.34,25.91,26.35,10.51,50.39
$GC,317,-1.82,-585.0,1753,2367,3178,4095,38.1,-13.0,47,323,0.00,1.02,0.00,0.000,1030,0.000,0.028,1754,1959,3177,3177,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.47,48.97
$GC,358,-1.82,-585.0,1753,1959,3178,4094,43.3,-12.4,53,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1959,3178,3178,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.45,48.54
$GC,398,-1.82,-585.0,1753,1959,3179,4095,48.5,-13.2,59,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1960,3179,3179,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.44,47.83
$GC,438,-1.82,-585.0,1753,1959,3180,4095,53.7,-13.3,65,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1959,3179,3179,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.43,48.07
$GC,478,-1.82,-585.0,1753,1959,3181,4094,59.0,-13.8,71,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1960,3181,3181,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.43,46.96
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,500,-0.45,0.0,1754,2136,3183,4094,61.1,-13.1,73,542,4.62,0.00,33.50,1.328,10244,0.051,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,24.08,10.43,46.88
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,548,1.82,585.0,2184,2135,2484,4094,64.2,0.0,80,595,7.62,0.00,33.20,1.287,11270,0.030,0.000,2902,2136,1803,1803,4094,0,0,0,0,0,0,25.45,25.60,23.70,10.29,46.69
$GC,630,1.82,585.0,2902,2135,1802,4094,56.7,13.4,93,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1802,1802,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.12,45.58
$GC,670,1.82,585.0,2901,2135,1801,4094,51.2,13.6,99,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1801,1801,4094,0,0,0,0,0,0,25.64,25.66,25.65,10.12,45.47
$GC,710,1.82,585.0,2902,2135,1800,4094,45.7,14.0,105,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1799,1799,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.12,45.82
$GC,750,1.82,585.0,2902,2135,1798,4094,40.2,14.0,111,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1798,1798,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.11,46.45
$GC,790,1.82,585.0,2902,2135,1796,4094,34.8,13.6,117,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1796,1796,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.11,46.53
$GC,830,1.82,585.0,2902,2135,1795,4094,29.5,13.4,123,837,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1712,1795,1795,4094,0,0,0,0,0,0,26.07,25.67,26.08,10.10,46.88
$GC,919,1.82,585.0,2902,1711,1793,4094,18.4,11.8,137,926,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2129,1793,1793,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.13,48.70
$GC,960,1.82,585.0,2902,2129,1791,4094,13.7,10.9,143,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1791,1791,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.16,49.56
$GC,1000,1.82,585.0,2902,2129,1790,4094,9.5,11.1,149,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1790,1790,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.17,50.63
$GC,1040,1.82,585.0,2902,2129,1789,4094,5.0,11.4,155,1047,0.00,1.10,0.00,0.000,516,0.000,0.045,2902,1713,1788,1788,4094,0,0,0,0,0,0,26.32,25.90,26.34,10.18,51.77
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.4,1.024310,90
$GC,1084,0.13,89.9,2902,2140,1788,4094,1.4,10.7,160,1097,5.25,0.00,-5.28,0.000,20486,0.022,0.000,2382,2141,2385,2385,4094,0,0,0,0,0,0,26.08,24.45,26.13,10.19,52.00
$FINISH2,0.1
$STATE,1098,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1098,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,094829
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.67
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.70,53.154
$10V_AH,10.24,50.700
$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,34.200,9.125,66.700,0.000,0.000,49.161,45.204,328.687,0.000,0.000,20.605,421.491,286.403,161.498,641.060,339.959,0.000,347.050,0.000,245.684,0.000,0.543,0.000
$DEVICE_MAMPS,88.740,1249.245,1328.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,10845,162
$CAP_FILE_SIZE,33029,0
$CFSIZE,1024409600,928612352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,095655,6042.800,-17346.436,7,0.8,19,7.0,0.5,323.2,10,5.0