version: 66.13
glider: 401
mission: 22
dive: 1350
start: 8 19 117 19 56 45
data:
$ID,401
$MISSION,22
$DIVE,1350
$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,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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,40
$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
$GPS1,190817,191423,6153.1367,-17405.9004,10,0.9,15,6.9,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-2.2
$GPS2,190817,191423,6153.1367,-17405.9004,10,0.9,15,6.9,0.0,0.0,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,137.1,21787,-11.5,-10.526,-14.94,6951
$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,10,-1.78,-487.5,2399,1959,2346,4092,0.0,0.0,0,21,6.45,0.00,-2.53,0.000,20482,0.024,0.000,1775,1960,2619,2619,4095,0,0,0,0,0,0,26.11,28.83,26.17,10.29,54.29
$GC,25,-1.78,-487.5,1775,1959,2619,4095,0.1,0.0,1,36,0.00,1.20,-4.05,0.000,16900,0.000,1.284,1775,1517,3055,3055,4095,0,0,0,0,0,0,26.35,24.57,26.36,10.36,54.01
$GC,208,-1.78,-487.5,1774,1517,3060,4095,26.3,-16.0,27,217,0.00,1.00,0.00,0.000,1030,0.000,0.028,1775,1943,3060,3060,4095,0,0,0,0,0,0,26.22,26.16,26.20,10.41,53.34
$GC,255,-1.78,-487.5,1774,1943,3061,4095,32.8,-12.8,33,265,0.00,1.12,0.00,0.000,260,0.000,0.046,1775,2373,3062,3062,4095,0,0,0,0,0,0,26.43,26.10,26.44,10.38,52.40
$GC,348,-1.78,-487.5,1774,2372,3064,4095,44.9,-12.7,46,358,0.00,1.08,0.00,0.000,1030,0.000,0.031,1775,1942,3064,3064,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.35,49.96
$GC,397,-1.78,-487.5,1774,1941,3065,4095,50.7,-12.3,52,405,0.00,1.05,0.00,0.000,516,0.000,0.053,1775,1525,3065,3065,4094,0,0,0,0,0,0,26.51,26.17,26.51,10.34,49.21
$GC,462,-1.78,-487.5,1774,1524,3066,4094,59.6,-13.2,61,472,0.00,1.00,0.00,0.000,1030,0.000,0.027,1775,1953,3067,3067,4095,0,0,0,0,0,0,26.30,26.29,26.33,10.33,48.62
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,489,-0.45,0.0,1774,2136,3067,4095,62.2,-12.9,63,525,4.43,0.00,28.33,1.341,10244,0.055,0.000,2185,2136,2484,2484,4095,0,0,0,0,0,0,26.21,25.30,24.22,10.32,48.70
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,530,1.78,487.5,2185,2136,2484,4095,65.4,0.0,67,575,7.53,1.10,28.05,1.306,10756,0.032,0.043,2894,1716,1918,1918,4094,0,0,0,0,0,0,25.51,25.46,23.82,10.20,47.28
$GC,654,1.78,487.5,2893,1715,1915,4094,54.0,13.0,83,663,0.00,1.05,0.00,0.000,1030,0.000,0.030,2894,2134,1915,1915,4094,0,0,0,0,0,0,25.52,25.48,25.55,10.07,46.96
$GC,701,1.78,487.5,2893,2133,1914,4094,47.4,13.3,89,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2134,1914,1914,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.06,46.29
$GC,748,1.78,487.5,2893,2133,1913,4094,41.3,13.1,95,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2134,1913,1913,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.05,46.65
$GC,794,1.78,487.5,2893,2133,1911,4094,35.4,12.4,101,803,0.00,1.12,0.00,0.000,516,0.000,0.046,2893,1712,1911,1911,4094,0,0,0,0,0,0,26.05,25.73,26.06,10.05,46.96
$GC,880,1.78,487.5,2893,1711,1909,4094,24.8,12.1,113,889,0.00,1.02,0.00,0.000,1030,0.000,0.028,2894,2133,1909,1909,4094,0,0,0,0,0,0,25.94,25.91,25.99,10.06,47.63
$GC,928,1.94,597.2,2893,2133,1908,4094,20.8,8.9,119,939,0.45,0.00,7.18,0.687,10246,0.037,0.000,2943,2133,1787,1787,4094,0,0,0,0,0,0,26.00,25.63,24.76,10.10,48.93
$GC,978,1.94,597.2,2942,2133,1785,4094,15.7,10.5,125,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2133,1785,1785,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,51.29
$GC,1025,1.94,597.2,2942,2132,1784,4094,10.0,12.1,131,1035,0.00,1.10,0.00,0.000,516,0.000,0.047,2943,1717,1784,1784,4094,0,0,0,0,0,0,26.22,25.90,26.23,10.13,51.81
$STATE,1094,end climb,SURFACE_DEPTH_REACHED
$STATE,1095,begin surface coast
$FINISH,0.1,1.001802
$STATE,1109,end surface coast,CONTROL_FINISHED_OK
$STATE,1109,begin surface
$SM_CCo,1213,0.00,0.000,0,0,1781,604.45
$SM_GC,1.01,28.48,0.57,0.00,0.021,0.030,0.000,230,1981,1781,-6.59,-1.32,604.45,0,0,0,0,0,0,25.98,26.10,26.07
$IRIDIUM_FIX,6149.06,-17422.35,190817,175847
$TT8_MAMPS,0.025466,0.250166
$HUMID,53.26
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.82,38.001
$10V_AH,10.13,38.778
$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,47.325,13.375,63.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,408.327,60.537,128.295,594.478,87.046,0.000,339.335,0.000,349.364,0.000,0.540,0.000
$DEVICE_MAMPS,55.080,1283.670,1341.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.435,388.535,307.475,456.145,592.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,14366,143
$CAP_FILE_SIZE,26857,0
$CFSIZE,1024409600,953155584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,201806,6152.624,-17405.791,3,0.8,28,6.9,0.0,142.4,9,4.8