version: 66.13
glider: 401
mission: 22
dive: 1374
start: 8 20 117 5 38 36
data:
$ID,401
$MISSION,22
$DIVE,1374
$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,31
$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,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
$GPS1,200817,045630,6152.2598,-17402.3770,9,0.9,24,7.0,0.3,99.5,10,5.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.4
$GPS2,200817,045630,6152.2598,-17402.3770,9,0.9,24,7.0,0.3,99.5,10,5.0
$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,141.7,18720,-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,-487.5,2404,1955,2344,4092,0.0,0.0,0,20,6.55,0.00,-1.38,0.000,20482,0.026,0.000,1773,1956,2494,2494,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.29,54.60
$GC,25,-1.78,-487.5,1772,1956,2494,4094,0.1,0.0,1,35,0.00,1.17,-5.22,0.000,16900,0.000,1.278,1773,1527,3056,3056,4094,0,0,0,0,0,0,26.36,24.56,26.36,10.33,54.17
$GC,172,-1.78,-487.5,1772,1528,3061,4094,21.5,-19.2,22,181,0.00,1.00,0.00,0.000,1030,0.000,0.028,1772,1954,3061,3061,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.45,54.41
$GC,221,-1.78,-487.5,1772,1954,3062,4094,28.1,-13.0,28,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1954,3062,3062,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,53.11
$GC,269,-1.78,-487.5,1772,1956,3063,4095,34.3,-12.9,34,277,0.00,1.10,0.00,0.000,260,0.000,0.045,1772,2374,3063,3063,4094,0,0,0,0,0,0,26.46,26.13,26.46,10.38,51.53
$GC,349,-1.78,-487.5,1772,2374,3065,4094,44.7,-13.1,45,358,0.00,1.10,0.00,0.000,1030,0.000,0.032,1773,1938,3065,3065,4094,0,0,0,0,0,0,26.25,26.20,26.29,10.35,49.64
$GC,398,-1.78,-487.5,1771,1937,3066,4094,50.9,-12.9,51,407,0.00,1.05,0.00,0.000,516,0.000,0.054,1772,1523,3066,3066,4095,0,0,0,0,0,0,26.52,26.17,26.53,10.34,48.97
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,471,-0.45,0.0,1772,2137,3068,4095,60.1,-13.6,60,507,4.47,0.00,28.38,1.312,10244,0.056,0.000,2186,2137,2483,2483,4094,0,0,0,0,0,0,26.22,25.32,24.26,10.32,48.18
$STATE,508,end apogee,CONTROL_FINISHED_OK
$STATE,508,begin climb
$GC,512,1.78,487.5,2186,2137,2482,4094,63.3,0.0,64,556,7.55,0.00,27.83,1.279,11270,0.031,0.000,2890,2137,1919,1919,4094,0,0,0,0,0,0,25.59,25.75,23.83,10.21,47.79
$GC,596,1.78,487.5,2890,2137,1918,4094,56.7,12.9,74,605,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1708,1918,1918,4094,0,0,0,0,0,0,25.59,25.32,25.60,10.07,46.18
$GC,695,1.78,487.5,2890,1708,1915,4094,43.6,13.3,88,704,0.00,1.05,0.00,0.000,1030,0.000,0.029,2891,2131,1915,1915,4094,0,0,0,0,0,0,25.68,25.65,25.70,10.06,47.12
$GC,742,1.78,487.5,2890,2131,1914,4094,37.4,13.2,94,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2131,1914,1914,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.06,47.08
$GC,788,1.78,487.5,2890,2131,1912,4094,31.3,12.4,100,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2131,1912,1912,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.05,47.32
$GC,835,1.78,487.5,2890,2131,1911,4094,25.5,12.7,106,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2131,1911,1911,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.06,47.55
$GC,881,1.78,487.5,2890,2131,1910,4094,19.8,11.8,112,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2131,1910,1910,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.10,47.95
$GC,927,1.90,568.6,2890,2131,1908,4094,15.5,9.3,118,937,0.35,1.12,5.72,0.578,10756,0.038,0.046,2932,1707,1820,1820,4094,0,0,0,0,0,0,26.02,25.73,24.83,10.13,50.66
$GC,1014,1.90,568.6,2931,1706,1818,4094,6.7,10.6,130,1023,0.00,1.02,0.00,0.000,1030,0.000,0.028,2932,2128,1818,1818,4095,0,0,0,0,0,0,26.02,25.99,26.09,10.15,52.16
$STATE,1058,end climb,SURFACE_DEPTH_REACHED
$STATE,1058,begin surface coast
$FINISH,0.2,1.023796
$STATE,1079,end surface coast,CONTROL_FINISHED_OK
$STATE,1079,begin surface
$SM_CCo,1183,0.00,0.000,0,0,1816,574.40
$SM_GC,1.00,28.30,0.47,0.00,0.021,0.044,0.000,237,1946,1816,-6.55,1.05,574.40,0,0,0,0,0,0,26.11,26.05,26.15
$IRIDIUM_FIX,6149.06,-17422.35,200817,033736
$TT8_MAMPS,0.025466,0.253911
$HUMID,53.22
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.83,38.699
$10V_AH,10.12,39.346
$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,47.225,12.250,61.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,398.510,61.144,129.939,576.960,82.193,0.000,338.169,0.000,338.428,0.000,0.540,0.000
$DEVICE_MAMPS,55.845,1278.315,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.547,377.717,299.086,443.491,575.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,14308,139
$CAP_FILE_SIZE,26353,0
$CFSIZE,1024409600,951975936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,055921,6151.877,-17401.027,3,0.8,22,7.0,0.0,72.8,11,5.0