version: 66.13
glider: 401
mission: 22
dive: 1464
start: 8 21 117 19 12 42
data:
$ID,401
$MISSION,22
$DIVE,1464
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,210817,183117,6137.0942,-17352.5234,7,1.2,52,7.0,0.6,106.1,8,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-3.5
$GPS2,210817,183117,6137.0942,-17352.5234,7,1.2,52,7.0,0.6,106.1,8,3.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,155.2,24191,-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,9,-1.78,-487.5,2395,1951,2360,4092,0.0,0.0,0,19,6.43,0.00,-1.12,0.000,20482,0.024,0.000,1773,1952,2483,2483,4094,0,0,0,0,0,0,26.07,28.83,26.11,10.31,53.81
$GC,24,-1.78,-487.5,1772,1952,2483,4094,0.1,0.0,1,34,0.00,1.23,-5.32,0.000,16644,0.000,1.245,1773,2383,3056,3056,4095,0,0,0,0,0,0,26.30,24.50,26.31,10.34,54.09
$GC,193,-1.78,-487.5,1772,2384,3061,4095,20.5,-17.9,25,202,0.00,1.10,0.00,0.000,1030,0.000,0.031,1773,1945,3061,3061,4095,0,0,0,0,0,0,26.15,26.10,26.16,10.48,53.58
$GC,240,-1.78,-487.5,1772,1945,3062,4095,28.9,-16.0,31,249,0.00,1.08,0.00,0.000,516,0.000,0.052,1773,1522,3062,3062,4095,0,0,0,0,0,0,26.41,26.06,26.43,10.43,53.03
$GC,346,-1.78,-487.5,1772,1522,3064,4095,43.0,-12.3,46,355,0.00,0.98,0.00,0.000,1030,0.000,0.025,1773,1944,3065,3065,4095,0,0,0,0,0,0,26.25,26.23,26.27,10.38,50.47
$GC,395,-1.78,-487.5,1772,1944,3066,4095,49.0,-13.0,52,404,0.00,1.10,0.00,0.000,260,0.000,0.045,1773,2365,3066,3066,4095,0,0,0,0,0,0,26.50,26.16,26.51,10.37,49.48
$GC,476,-1.78,-487.5,1772,2365,3068,4095,59.8,-13.2,63,486,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1943,3068,3068,4094,0,0,0,0,0,0,26.27,26.22,26.32,10.35,48.42
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,503,-0.45,0.0,1772,2133,3068,4095,62.8,-13.1,65,546,4.45,0.00,28.40,1.328,10244,0.054,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.20,25.27,24.26,10.35,48.07
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,547,begin climb
$GC,551,1.78,487.5,2186,2133,2484,4094,66.3,0.0,70,596,7.53,1.12,28.12,1.307,10500,0.031,0.052,2893,2552,1915,1915,4094,0,0,0,0,0,0,25.53,25.48,23.86,10.22,46.96
$GC,608,1.87,552.2,2893,2552,1916,4094,63.1,9.6,76,619,0.22,1.08,5.43,0.869,11270,0.033,0.027,2922,2128,1839,1839,4094,0,0,0,0,0,0,25.22,25.20,23.96,10.09,46.77
$GC,659,1.87,552.2,2921,2128,1838,4094,56.6,13.4,82,668,0.00,1.08,0.00,0.000,516,0.000,0.047,2922,1722,1838,1838,4094,0,0,0,0,0,0,25.63,25.33,25.64,10.07,45.86
$GC,740,1.87,552.2,2921,1722,1836,4094,45.2,14.2,93,750,0.00,1.00,0.00,0.000,1030,0.000,0.029,2922,2125,1836,1836,4094,0,0,0,0,0,0,25.67,25.63,25.67,10.06,46.25
$GC,789,1.87,552.2,2921,2125,1834,4094,38.1,14.8,99,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2126,1834,1834,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.06,47.08
$GC,837,1.87,552.2,2921,2125,1832,4094,31.2,13.7,105,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2125,1832,1832,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.06,47.36
$GC,885,1.87,552.2,2921,2125,1831,4094,25.0,12.2,111,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2125,1831,1831,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.07,47.48
$GC,933,2.00,632.4,2921,2125,1830,4094,20.3,9.3,117,944,0.30,1.08,5.47,0.597,10756,0.038,0.046,2959,1719,1746,1746,4094,0,0,0,0,0,0,25.97,25.67,24.72,10.11,49.72
$GC,1027,2.00,632.4,2959,1719,1744,4094,9.5,11.7,130,1037,0.00,1.05,0.00,0.000,1030,0.000,0.031,2960,2143,1743,1743,4094,0,0,0,0,0,0,25.99,25.95,26.02,10.14,52.04
$GC,1076,2.00,632.4,2959,2142,1742,4094,4.1,11.8,136,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2142,1742,1742,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.15,52.08
$STATE,1092,end climb,SURFACE_DEPTH_REACHED
$STATE,1093,begin surface coast
$FINISH,0.2,1.023998
$STATE,1107,end surface coast,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$SM_CCo,1212,0.00,0.000,0,0,1740,639.66
$SM_GC,0.83,28.40,0.47,0.00,0.021,0.041,0.000,240,1952,1740,-6.55,1.69,639.66,0,0,0,0,0,0,26.10,26.06,26.14
$IRIDIUM_FIX,6149.06,-17422.35,210817,182126
$TT8_MAMPS,0.025466,0.251664
$HUMID,53.18
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.86,41.454
$10V_AH,10.13,41.516
$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,47.325,15.500,67.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,406.782,60.657,137.021,582.222,93.227,0.000,355.878,0.000,340.627,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1244.655,1328.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.883,380.385,301.087,446.338,580.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14289,140
$CAP_FILE_SIZE,28166,0
$CFSIZE,1024409600,947552256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,193358,6136.436,-17351.996,4,0.9,23,7.0,0.6,249.2,9,4.9