version: 66.13
glider: 401
mission: 22
dive: 1863
start: 8 28 117 15 37 25
data:
$ID,401
$MISSION,22
$DIVE,1863
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,280817,145255,6040.1890,-17344.7090,9,0.8,38,7.0,0.5,174.5,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.4
$GPS2,280817,145255,6040.1890,-17344.7090,9,0.8,38,7.0,0.5,174.5,10,4.9
$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,155.8,28471,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.82,-585.0,2386,1946,2374,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.026,0.000,1835,1946,2374,2374,4095,0,0,0,0,0,0,26.38,28.83,28.83,10.33,53.38
$GC,24,-1.82,-585.0,1835,1946,2374,4095,0.1,0.0,1,38,0.55,1.17,-7.40,0.000,20996,0.040,1.252,1776,1524,3171,3171,4095,0,0,0,0,0,0,26.06,24.27,26.09,10.33,53.30
$GC,194,-1.82,-585.0,1776,1523,3176,4095,21.6,-14.1,28,201,0.00,0.98,0.00,0.000,1030,0.000,0.027,1776,1942,3176,3176,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.50,53.74
$GC,235,-1.82,-585.0,1775,1943,3177,4095,26.6,-12.1,34,242,0.00,1.12,0.00,0.000,260,0.000,0.045,1776,2371,3177,3177,4094,0,0,0,0,0,0,26.46,26.03,26.46,10.47,53.46
$GC,318,-1.82,-585.0,1775,2371,3179,4094,36.6,-12.0,47,325,0.00,1.00,0.00,0.000,1030,0.000,0.028,1776,1974,3179,3179,4094,0,0,0,0,0,0,26.22,26.18,26.24,10.44,51.41
$GC,359,-1.82,-585.0,1775,1973,3180,4094,41.5,-12.1,53,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1974,3180,3180,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,50.94
$GC,399,-1.82,-585.0,1776,1973,3181,4095,46.5,-12.1,59,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1974,3181,3181,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,50.23
$GC,439,-1.82,-585.0,1775,1973,3181,4095,51.7,-13.5,65,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1974,3182,3182,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.41,50.15
$GC,479,-1.82,-585.0,1775,1973,3183,4095,56.8,-13.0,71,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1974,3183,3183,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.40,49.48
$STATE,503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,503,begin apogee
$GC,514,-0.45,0.0,1776,2139,3183,4095,60.6,-13.4,75,556,4.38,0.00,33.38,1.318,10244,0.050,0.000,2185,2139,2484,2484,4095,0,0,0,0,0,0,26.16,25.20,24.14,10.40,49.21
$STATE,557,end apogee,CONTROL_FINISHED_OK
$STATE,557,begin climb
$GC,562,1.82,585.0,2184,2139,2484,4095,63.9,0.0,82,609,7.62,0.00,33.33,1.281,11270,0.030,0.000,2902,2139,1800,1800,4095,0,0,0,0,0,0,25.50,25.67,23.73,10.25,48.50
$GC,644,1.82,585.0,2902,2138,1799,4095,56.6,14.0,95,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1799,1799,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.10,47.36
$GC,684,1.82,585.0,2902,2138,1798,4094,51.1,13.2,101,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1798,1798,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.09,47.67
$GC,724,1.82,585.0,2902,2139,1796,4094,45.6,13.6,107,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1796,1796,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.09,47.51
$GC,764,1.82,585.0,2902,2139,1795,4094,40.2,13.7,113,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1795,1795,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.08,48.18
$GC,804,1.82,585.0,2901,2139,1794,4094,34.7,13.8,119,811,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1708,1794,1794,4094,0,0,0,0,0,0,26.01,25.61,26.01,10.09,48.93
$GC,899,1.82,585.0,2902,1708,1791,4094,22.8,12.0,134,906,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2118,1791,1791,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.10,49.29
$GC,940,1.82,585.0,2902,2118,1790,4094,18.1,11.1,140,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1790,1790,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.13,49.68
$GC,980,1.82,585.0,2902,2118,1789,4094,13.8,10.9,146,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1789,1789,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.15,51.22
$GC,1020,1.82,585.0,2902,2118,1788,4094,9.4,11.2,152,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1788,1788,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.16,52.99
$GC,1060,1.82,585.0,2902,2118,1786,4095,4.7,12.1,158,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1785,1785,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,52.71
$STATE,1084,end climb,SURFACE_DEPTH_REACHED
$STATE,1084,begin surface coast
$FINISH,0.2,1.024278
$STATE,1103,end surface coast,CONTROL_FINISHED_OK
$STATE,1103,begin surface
$SM_CCo,1209,0.00,0.000,0,0,1785,601.02
$SM_GC,0.90,27.80,0.45,0.00,0.021,0.047,0.000,230,1949,1785,-6.59,1.14,601.02,0,0,0,0,0,0,25.97,26.03,26.05
$IRIDIUM_FIX,5952.82,-17420.78,280817,144137
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.42
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.73,53.601
$10V_AH,10.37,51.030
$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,45.925,7.750,66.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.935,320.681,168.107,239.582,118.862,0.000,345.587,0.000,248.439,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,1252.305,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,10806,165
$CAP_FILE_SIZE,28567,0
$CFSIZE,1024409600,927940608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,155837,6039.469,-17344.877,8,1.0,20,7.0,0.5,224.9,9,4.7