version: 66.13
glider: 401
mission: 22
dive: 1540
start: 8 23 117 2 7 51
data:
$ID,401
$MISSION,22
$DIVE,1540
$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,31
$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
$GPS1,230817,015818,6123.3267,-17352.1172,4,0.8,14,7.0,0.4,298.1,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-41.9
$GPS2,230817,020715,6123.3662,-17352.2461,8,0.8,26,7.0,0.3,298.0,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,169.4,36011,-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,-487.5,230,1956,1807,4092,0.0,0.0,0,20,7.60,0.00,0.00,0.000,2049,0.084,0.000,883,1956,1807,1807,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.25,52.40
$GC,24,-1.78,-487.5,882,1956,1807,4094,0.7,0.0,1,52,9.45,1.20,-11.65,0.000,18948,0.042,1.259,1763,1513,3056,3056,4094,0,0,0,0,0,0,25.89,24.30,25.94,10.26,51.85
$GC,193,-1.78,-487.5,1763,1513,3060,4094,19.2,-16.6,24,201,0.00,1.05,0.00,0.000,1030,0.000,0.030,1763,1950,3060,3060,4095,0,0,0,0,0,0,26.04,26.00,26.06,10.52,50.78
$GC,241,-1.78,-487.5,1762,1950,3062,4095,27.6,-15.4,30,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3062,3062,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.48,50.31
$GC,289,-1.78,-487.5,1762,1950,3061,4094,34.2,-13.5,36,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3062,3062,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.45,49.25
$GC,336,-1.78,-487.5,1763,1950,3064,4095,40.4,-13.5,42,345,0.00,1.12,0.00,0.000,260,0.000,0.046,1763,2379,3064,3064,4094,0,0,0,0,0,0,26.41,26.04,26.42,10.42,48.34
$GC,442,-1.78,-487.5,1763,2379,3066,4094,55.1,-13.6,57,452,0.00,1.17,0.00,0.000,1030,0.000,0.031,1763,1911,3066,3066,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.39,46.77
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,489,-0.45,0.0,1763,2146,3068,4094,60.5,-13.0,62,526,4.55,0.00,28.38,1.313,10244,0.054,0.000,2184,2147,2484,2484,4094,0,0,0,0,0,0,26.13,25.27,24.22,10.38,46.10
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,531,1.78,487.5,2184,2147,2484,4094,63.9,0.0,66,575,7.53,1.10,28.12,1.286,10500,0.030,0.051,2892,2555,1913,1913,4094,0,0,0,0,0,0,25.51,25.42,23.84,10.26,45.66
$GC,588,1.80,504.9,2891,2554,1913,4094,60.4,10.3,72,598,0.00,1.08,2.83,0.410,9222,0.000,0.025,2893,2133,1894,1894,4094,0,0,0,0,0,0,25.21,25.18,23.95,10.13,44.60
$GC,637,1.80,504.9,2892,2132,1893,4094,54.0,13.4,78,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1893,1893,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.12,44.32
$GC,685,1.80,504.9,2891,2132,1892,4094,47.6,13.3,84,695,0.00,1.10,0.00,0.000,516,0.000,0.046,2893,1711,1892,1892,4094,0,0,0,0,0,0,25.82,25.47,25.83,10.11,44.48
$GC,778,1.80,504.9,2892,1710,1889,4094,35.7,11.9,97,788,0.00,1.00,0.00,0.000,1030,0.000,0.029,2893,2119,1889,1889,4094,0,0,0,0,0,0,25.77,25.75,25.81,10.10,45.55
$GC,827,1.80,504.9,2892,2118,1887,4094,29.6,13.0,103,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1887,1887,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.10,45.98
$GC,876,1.80,504.9,2892,2118,1887,4094,23.9,11.4,109,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1886,1886,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,46.69
$GC,923,2.06,673.9,2892,2119,1885,4094,19.9,8.0,115,942,0.85,0.00,9.98,0.744,10758,0.028,0.000,2983,2119,1699,1699,4094,0,0,0,0,0,0,26.02,25.28,24.72,10.15,48.30
$GC,981,2.06,673.9,2982,2119,1698,4094,13.1,13.1,122,991,0.00,1.08,0.00,0.000,516,0.000,0.047,2983,1709,1698,1698,4094,0,0,0,0,0,0,26.14,25.79,26.15,10.14,50.74
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,1.4,1.023974,113
$GC,1076,0.17,113.3,2983,2144,1695,4094,1.4,13.2,134,1094,6.05,0.00,-5.90,0.000,20486,0.023,0.000,2396,2152,2356,2356,4094,0,0,0,0,0,0,26.00,25.37,26.05,10.17,52.00
$FINISH2,0.1
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,004850
$TT8_MAMPS,0.025466,0.245672
$HUMID,52.12
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.84,43.642
$10V_AH,10.13,43.316
$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,36.025,11.575,69.300,0.000,0.000,24.198,19.100,264.602,0.000,0.000,27.690,393.743,0.000,119.315,863.619,266.474,0.000,349.391,0.000,333.673,0.000,0.542,0.000
$DEVICE_MAMPS,84.150,1259.190,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.765,369.502,292.410,433.692,563.422,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329264
$DATA_FILE_SIZE,14333,136
$CAP_FILE_SIZE,29584,0
$CFSIZE,1024409600,943816704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230817,020715,6123.366,-17352.246,8,0.8,26,7.0,0.3,298.0,10,5.0