version: 66.13
glider: 401
mission: 22
dive: 1939
start: 8 29 117 23 8 44
data:
$ID,401
$MISSION,22
$DIVE,1939
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,290817,225707,6029.0244,-17338.4883,4,0.8,21,7.1,0.4,328.2,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-31.5
$GPS2,290817,230801,6029.0566,-17338.5117,5,0.8,17,7.1,0.7,1.1,11,4.8
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$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,150.0,46235,-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,-585.0,239,1960,1701,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.083,0.000,723,1960,1701,1701,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.24,51.61
$GC,24,-1.82,-585.0,722,1960,1701,4094,0.7,0.0,1,55,11.10,1.25,-13.65,0.000,19204,0.045,1.245,1754,2376,3171,3171,4094,0,0,0,0,0,0,25.89,24.01,25.96,10.24,51.96
$GC,65,-1.82,-585.0,1753,2377,3171,4094,0.3,-0.8,7,71,0.00,1.10,0.00,0.000,1030,0.000,0.030,1754,1938,3171,3171,4095,0,0,0,0,0,0,25.88,25.84,25.91,10.57,51.77
$GC,106,-1.82,-585.0,1754,1938,3172,4095,5.5,-13.9,13,112,0.00,1.05,0.00,0.000,516,0.000,0.050,1754,1524,3172,3172,4095,0,0,0,0,0,0,26.24,25.80,26.24,10.57,51.06
$GC,347,-1.82,-585.0,1753,1524,3178,4095,40.2,-13.5,52,354,0.00,1.00,0.00,0.000,1030,0.000,0.025,1754,1952,3178,3178,4094,0,0,0,0,0,0,26.17,26.16,26.20,10.47,48.97
$GC,388,-1.82,-585.0,1753,1952,3179,4094,45.7,-13.3,58,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3180,3180,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.46,48.18
$GC,429,-1.82,-585.0,1753,1951,3181,4094,51.3,-13.8,64,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3181,3181,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.45,47.71
$GC,469,-1.82,-585.0,1753,1951,3182,4095,57.0,-14.5,70,476,0.00,1.10,0.00,0.000,260,0.000,0.044,1754,2373,3182,3182,4095,0,0,0,0,0,0,26.52,26.07,26.53,10.44,47.63
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,499,-0.45,0.0,1754,2114,3182,4095,60.2,-14.0,73,541,4.62,0.00,33.55,1.310,10244,0.053,0.000,2185,2111,2484,2484,4094,0,0,0,0,0,0,26.09,25.15,24.07,10.44,47.20
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,547,1.82,585.0,2185,2111,2484,4094,63.8,0.0,80,594,7.65,0.00,33.22,1.277,11270,0.032,0.000,2902,2111,1803,1803,4094,0,0,0,0,0,0,25.47,25.63,23.70,10.29,46.73
$GC,629,1.82,585.0,2901,2111,1801,4094,56.6,13.2,93,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2111,1801,1801,4094,0,0,0,0,0,0,25.46,25.46,25.46,10.14,46.18
$GC,669,1.82,585.0,2902,2110,1800,4094,51.2,13.5,99,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2111,1800,1800,4094,0,0,0,0,0,0,25.66,25.68,25.67,10.14,45.86
$GC,709,1.82,585.0,2901,2111,1799,4094,46.0,12.9,105,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2111,1799,1799,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.12,45.98
$GC,750,1.82,585.0,2901,2110,1798,4094,40.7,12.9,111,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2111,1798,1798,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.12,46.92
$GC,790,1.82,585.0,2902,2111,1796,4094,35.6,12.6,117,796,0.00,0.98,0.00,0.000,516,0.000,0.044,2902,1736,1796,1796,4094,0,0,0,0,0,0,26.02,25.63,26.03,10.12,46.77
$GC,979,1.82,585.0,2902,1736,1792,4094,17.1,10.8,147,986,0.00,0.98,0.00,0.000,1030,0.000,0.031,2902,2134,1791,1791,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.18,51.06
$GC,1020,1.82,585.0,2902,2133,1790,4094,11.8,12.5,153,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1791,1791,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.20,51.53
$GC,1060,1.82,585.0,2902,2133,1789,4094,6.8,11.9,159,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1789,1789,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.20,52.36
$GC,1101,1.82,585.0,2902,2133,1788,4094,2.3,11.9,165,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1788,1788,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.21,52.87
$STATE,1111,end climb,FINISH_DEPTH_REACHED
$STATE,1111,begin subsurface finish
$FINISH1,0.8,1.024160,100
$GC,1123,0.15,100.3,2902,2135,1787,4095,0.8,9.5,167,1137,5.20,0.00,-5.07,0.000,20486,0.023,0.000,2389,2135,2375,2375,4095,0,0,0,0,0,0,26.14,24.46,26.19,10.21,52.75
$FINISH2,0.2
$STATE,1138,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1138,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,214933
$TT8_MAMPS,0.025466,0.133322
$HUMID,52.67
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.70,56.084
$10V_AH,10.29,52.855
$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,34.175,8.050,66.775,0.000,0.000,23.635,25.291,341.550,0.000,0.000,18.659,435.791,264.556,153.575,565.785,385.240,0.000,338.854,0.000,255.619,0.000,0.543,0.000
$DEVICE_MAMPS,82.620,1244.655,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14306,169
$CAP_FILE_SIZE,31728,0
$CFSIZE,1024409600,924205056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290817,230801,6029.057,-17338.512,5,0.8,17,7.1,0.7,1.1,11,4.8