version: 66.13
glider: 401
mission: 22
dive: 3193
start: 9 19 117 23 47 37
data:
$ID,401
$MISSION,22
$DIVE,3193
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,500
$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,28
$R_STBD_OVSHOOT,29
$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,4
$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
$GPS1,190917,233742,5832.6582,-17002.0371,5,1.0,38,8.8,0.4,264.2,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-36.7
$GPS2,190917,234658,5832.6802,-17002.1074,6,0.8,14,8.8,0.0,12.6,10,4.8
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W3S
$TGT_LATLONG,5803.150,-16922.180
$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,135.6,67246,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,13,-1.80,-487.5,231,1947,1795,4091,0.0,0.0,0,20,5.60,0.00,0.00,0.000,2049,0.073,0.000,727,1947,1795,1795,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.21,52.83
$GC,27,-1.80,-487.5,726,1946,1795,4094,0.7,0.0,1,58,10.93,1.25,-11.48,0.000,18692,0.044,1.206,1755,2371,3055,3055,4095,0,0,0,0,0,0,25.99,23.61,26.07,10.21,52.75
$GC,296,-1.80,-487.5,1755,2372,3061,4095,28.9,-20.1,44,302,0.00,1.05,0.00,0.000,1030,0.000,0.030,1756,1952,3061,3061,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.46,52.40
$GC,338,-1.80,-487.5,1755,1952,3062,4094,35.2,-13.9,50,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1951,3062,3062,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.44,52.20
$GC,380,-1.80,-487.5,1755,1951,3063,4095,41.0,-14.0,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1952,3063,3063,4095,0,0,0,0,0,0,26.62,26.64,26.63,10.43,51.33
$GC,422,-1.80,-487.5,1755,1951,3064,4095,46.6,-13.9,62,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1952,3064,3064,4094,0,0,0,0,0,0,26.65,26.65,26.65,10.42,50.82
$GC,464,-1.80,-487.5,1755,1951,3066,4094,52.5,-14.3,68,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1952,3065,3065,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.42,50.51
$STATE,481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,481,begin apogee
$GC,496,-0.45,0.0,1755,2141,3066,4095,55.7,-13.7,71,537,4.60,0.00,28.90,1.253,10244,0.054,0.000,2186,2142,2484,2484,4094,0,0,0,0,0,0,26.07,25.10,23.68,10.41,50.59
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,544,1.80,487.5,2185,2141,2484,4094,59.7,0.0,78,586,7.45,0.00,28.45,1.235,11270,0.031,0.000,2900,2142,1916,1916,4094,0,0,0,0,0,0,25.75,25.95,23.38,10.30,50.03
$GC,622,1.80,487.5,2899,2141,1915,4094,53.6,13.4,90,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1914,1914,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.17,48.85
$GC,664,1.80,487.5,2899,2141,1913,4094,47.6,14.5,96,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1913,1913,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.16,48.46
$GC,706,1.80,487.5,2900,2141,1912,4094,41.7,14.4,102,712,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1710,1911,1911,4094,0,0,0,0,0,0,26.11,25.63,26.13,10.16,48.42
$GC,869,1.93,569.0,2900,1709,1907,4094,21.9,9.6,127,882,0.32,1.00,5.82,0.607,11270,0.028,0.028,2941,2124,1820,1820,4094,0,0,0,0,0,0,26.07,26.04,24.01,10.18,49.76
$GC,918,1.93,569.0,2940,2124,1819,4094,15.1,13.1,134,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2124,1819,1819,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.18,50.82
$GC,960,1.93,569.0,2940,2124,1818,4094,9.6,13.4,140,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2124,1818,1818,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.18,52.67
$GC,1002,1.93,569.0,2940,2124,1816,4094,4.3,12.0,146,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2124,1816,1816,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.19,52.12
$STATE,1013,end climb,FINISH_DEPTH_REACHED
$STATE,1013,begin subsurface finish
$FINISH1,1.9,1.024605,69
$GC,1028,0.10,69.3,2941,2124,1815,4094,1.9,13.6,148,1047,5.68,1.17,-5.18,0.000,20996,0.021,1.206,2368,1710,2411,2411,4094,0,0,0,0,0,0,26.22,23.68,26.26,10.19,52.36
$FINISH2,0.4
$STATE,1048,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1048,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,223431
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.38,92.821
$10V_AH,9.98,81.143
$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,34.575,6.100,63.175,0.000,0.000,25.875,17.834,251.737,0.000,0.000,15.982,389.515,235.194,145.159,480.450,359.118,0.000,313.255,0.000,230.253,0.000,0.543,0.000
$DEVICE_MAMPS,73.440,1206.405,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333544
$DATA_FILE_SIZE,10770,151
$CAP_FILE_SIZE,27254,0
$CFSIZE,1024409600,889307136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,234658,5832.680,-17002.107,6,0.8,14,8.8,0.0,12.6,10,4.8