version: 66.13
glider: 401
mission: 22
dive: 1868
start: 8 28 117 17 45 45
data:
$ID,401
$MISSION,22
$DIVE,1868
$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,49
$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
$GPS1,280817,172402,6038.8320,-17345.5703,6,0.8,29,7.0,0.2,241.8,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.6
$GPS2,280817,172402,6038.8320,-17345.5703,6,0.8,29,7.0,0.2,241.8,11,4.6
$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,152.6,26345,-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,-585.0,2382,1982,2375,4092,0.0,0.0,0,22,6.35,0.00,-2.05,0.000,20482,0.021,0.000,1754,1983,2604,2604,4094,0,0,0,0,0,0,26.08,28.83,26.12,10.34,53.22
$GC,27,-1.82,-585.0,1752,1983,2603,4094,0.4,0.0,1,38,0.00,1.27,-5.32,0.000,16900,0.000,1.240,1753,1520,3171,3171,4095,0,0,0,0,0,0,26.33,24.24,26.34,10.38,53.66
$GC,212,-1.82,-585.0,1752,1520,3176,4095,26.4,-15.0,27,222,0.00,0.98,0.00,0.000,1030,0.000,0.026,1753,1936,3177,3177,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.46,52.83
$GC,262,-1.82,-585.0,1752,1936,3177,4094,34.0,-13.4,33,272,0.00,1.12,0.00,0.000,260,0.000,0.046,1753,2366,3178,3178,4095,0,0,0,0,0,0,26.45,26.03,26.46,10.44,51.41
$GC,330,-1.82,-585.0,1752,2365,3179,4095,43.2,-12.9,42,339,0.00,1.00,0.00,0.000,1030,0.000,0.030,1752,1968,3179,3179,4094,0,0,0,0,0,0,26.20,26.16,26.22,10.42,50.35
$GC,378,-1.82,-585.0,1752,1968,3181,4094,49.6,-13.6,48,387,0.00,1.15,0.00,0.000,516,0.000,0.051,1753,1515,3181,3181,4094,0,0,0,0,0,0,26.51,26.04,26.52,10.42,49.37
$GC,452,-1.82,-585.0,1752,1515,3183,4094,59.6,-13.6,58,461,0.00,1.02,0.00,0.000,1030,0.000,0.026,1753,1953,3183,3183,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.40,48.85
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,480,-0.45,0.0,1752,2144,3183,4094,62.6,-13.3,60,524,4.65,0.00,33.55,1.338,10244,0.052,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.14,25.17,24.11,10.40,48.77
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,525,begin climb
$GC,530,1.82,585.0,2185,2144,2484,4094,66.1,0.0,65,580,7.62,0.00,33.25,1.303,11270,0.030,0.000,2904,2144,1806,1806,4094,0,0,0,0,0,0,25.48,25.65,23.71,10.26,48.03
$GC,620,1.82,585.0,2904,2144,1805,4094,58.3,13.7,75,630,0.00,1.17,0.00,0.000,516,0.000,0.043,2905,1706,1804,1804,4094,0,0,0,0,0,0,25.49,25.16,25.50,10.11,46.73
$GC,741,1.82,585.0,2905,1706,1801,4094,41.5,13.9,92,750,0.00,1.02,0.00,0.000,1030,0.000,0.031,2905,2118,1801,1801,4094,0,0,0,0,0,0,25.65,25.62,25.70,10.09,47.28
$GC,789,1.82,585.0,2904,2117,1799,4094,34.6,14.5,98,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2118,1799,1799,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.09,47.95
$GC,837,1.82,585.0,2904,2117,1797,4094,27.9,14.3,104,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2118,1797,1797,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.09,48.81
$GC,884,1.82,585.0,2904,2117,1796,4094,21.6,12.7,110,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2118,1796,1796,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.10,48.30
$GC,932,1.82,585.0,2904,2117,1795,4094,16.1,11.1,116,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2117,1794,1794,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.13,48.93
$GC,980,1.82,586.9,2904,2117,1793,4094,11.2,10.5,122,989,0.00,1.10,0.00,0.000,516,0.000,0.046,2905,1702,1793,1793,4094,0,0,0,0,0,0,26.29,25.87,26.29,10.16,51.10
$STATE,1062,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,1.7,1.024199,98
$GC,1075,0.15,97.6,2904,2140,1790,4094,1.7,11.7,134,1094,5.28,0.00,-5.20,0.000,20486,0.024,0.000,2384,2148,2377,2377,4094,0,0,0,0,0,0,26.09,25.39,26.15,10.18,52.87
$FINISH2,0.1
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,171624
$TT8_MAMPS,0.025466,0.24717
$HUMID,53.42
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.71,53.771
$10V_AH,10.14,51.161
$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,23.900,12.025,66.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,378.193,0.000,108.564,569.285,101.556,0.000,328.012,0.000,333.477,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1240.065,1337.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.654,369.553,292.386,433.530,566.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,14398,136
$CAP_FILE_SIZE,23909,0
$CFSIZE,1024409600,927694848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,522.09,0x2138e4,2,24
$GPS,280817,172402,6038.832,-17345.570,6,0.8,29,7.0,0.2,241.8,11,4.6