version: 66.13
glider: 401
mission: 22
dive: 1870
start: 8 28 117 18 36 49
data:
$ID,401
$MISSION,22
$DIVE,1870
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,280817,182646,6038.4390,-17345.9668,8,0.9,18,7.0,0.4,294.6,10,4.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-33.2
$GPS2,280817,183611,6038.4375,-17346.0898,10,0.9,19,7.0,0.6,267.3,10,4.7
$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,151.0,25835,-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,-585.0,238,1981,1770,4092,0.0,0.0,0,21,8.45,0.00,0.00,0.000,2049,0.090,0.000,957,1981,1770,1770,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.24,52.08
$GC,27,-1.82,-585.0,957,1981,1770,4094,0.8,0.0,1,55,8.50,1.30,-12.90,0.000,18948,0.041,1.246,1753,1520,3170,3170,4095,0,0,0,0,0,0,25.86,24.05,25.94,10.25,52.08
$GC,314,-1.82,-585.0,1752,1520,3175,4095,30.1,-13.6,42,323,0.00,0.98,0.00,0.000,1030,0.000,0.026,1753,1940,3175,3175,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.49,50.63
$GC,363,-1.82,-585.0,1752,1940,3177,4094,36.6,-13.4,48,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1940,3177,3177,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.47,49.09
$GC,412,-1.82,-585.0,1752,1940,3178,4095,42.9,-12.4,54,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1940,3178,3178,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.45,48.30
$GC,460,-1.82,-585.0,1753,1940,3179,4094,49.3,-13.5,60,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1940,3179,3179,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.44,47.44
$GC,509,-1.82,-585.0,1753,1940,3180,4094,56.0,-13.3,66,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1940,3180,3180,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,47.28
$STATE,539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,539,begin apogee
$GC,550,-0.45,0.0,1753,2140,3181,4095,60.8,-13.4,70,594,4.62,0.00,33.53,1.327,10244,0.052,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.11,25.15,24.08,10.43,47.55
$STATE,595,end apogee,CONTROL_FINISHED_OK
$STATE,595,begin climb
$GC,600,1.82,585.0,2186,2140,2484,4094,64.3,0.0,75,645,7.65,0.00,33.35,1.289,11270,0.030,0.000,2903,2140,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.70,10.27,46.57
$GC,686,1.82,585.0,2903,2140,1801,4094,56.9,13.7,85,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1801,1801,4095,0,0,0,0,0,0,25.46,25.48,25.48,10.12,45.47
$GC,735,1.82,585.0,2903,2140,1799,4095,50.1,13.9,91,744,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1707,1799,1799,4094,0,0,0,0,0,0,25.70,25.34,25.71,10.12,45.51
$GC,842,1.82,585.0,2903,1707,1795,4094,35.0,13.9,106,851,0.00,1.05,0.00,0.000,1030,0.000,0.030,2903,2130,1795,1795,4094,0,0,0,0,0,0,25.71,25.67,25.75,10.11,46.65
$GC,890,1.82,585.0,2903,2129,1794,4094,28.4,13.7,112,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,46.77
$GC,937,1.82,585.0,2903,2129,1792,4094,22.1,13.2,118,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1792,1792,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,47.75
$GC,984,1.82,585.0,2903,2130,1790,4094,16.3,12.2,124,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1790,1790,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,48.77
$GC,1032,1.83,591.8,2903,2129,1789,4094,11.5,10.4,130,1042,0.00,1.10,0.00,0.000,516,0.000,0.044,2904,1712,1789,1789,4095,0,0,0,0,0,0,26.27,25.86,26.28,10.17,50.15
$STATE,1128,end climb,FINISH_DEPTH_REACHED
$STATE,1128,begin subsurface finish
$FINISH1,2.0,1.024198,98
$GC,1141,0.15,97.7,2903,2145,1787,4094,2.0,10.0,144,1159,5.25,0.00,-5.20,0.000,20486,0.023,0.000,2385,2148,2374,2374,4094,0,0,0,0,0,0,26.10,25.40,26.15,10.19,52.00
$FINISH2,0.2
$STATE,1160,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1160,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,171800
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.77
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.70,53.840
$10V_AH,10.09,51.211
$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,34.475,7.125,66.875,0.000,0.000,24.729,19.989,268.963,0.000,0.000,21.058,408.882,0.000,115.686,894.718,314.818,0.000,348.349,0.000,357.141,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1246.185,1326.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.382,396.687,313.860,465.326,608.195,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,14297,146
$CAP_FILE_SIZE,27735,0
$CFSIZE,1024409600,927596544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280817,183611,6038.438,-17346.090,10,0.9,19,7.0,0.6,267.3,10,4.7