version: 66.13
glider: 401
mission: 22
dive: 1543
start: 8 23 117 3 28 40
data:
$ID,401
$MISSION,22
$DIVE,1543
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,230817,031030,6123.1724,-17352.7578,7,0.8,41,7.0,0.3,311.6,11,4.8
$_CALLS,6
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.3
$GPS2,230817,032804,6123.3096,-17352.9434,11,0.8,19,7.0,0.0,274.7,11,4.8
$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,168.4,35950,-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,-487.5,237,1967,1815,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.103,0.000,708,1961,1815,1815,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.28,49.88
$GC,22,-1.78,-487.5,707,1961,1815,4094,0.8,0.0,1,53,11.40,1.20,-11.48,0.000,18948,0.044,1.258,1763,1522,3056,3056,4094,0,0,0,0,0,0,25.85,24.25,25.93,10.28,50.07
$GC,196,-1.78,-487.5,1762,1522,3060,4094,21.5,-17.2,29,203,0.00,1.02,0.00,0.000,1030,0.000,0.026,1763,1952,3060,3060,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.54,49.09
$GC,237,-1.78,-487.5,1763,1952,3061,4095,27.9,-15.3,35,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3061,3061,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.52,48.77
$GC,276,-1.78,-487.5,1762,1952,3062,4095,33.4,-13.7,41,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3062,3062,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.48,48.38
$GC,316,-1.78,-487.5,1763,1952,3063,4094,38.5,-13.2,47,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.46,47.83
$GC,355,-1.78,-487.5,1763,1952,3064,4095,43.9,-13.5,53,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1952,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.43,47.08
$GC,395,-1.78,-487.5,1762,1952,3065,4095,49.3,-13.8,59,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3065,3065,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.42,46.25
$GC,434,-1.78,-487.5,1763,1952,3066,4095,54.4,-12.6,65,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.41,45.31
$GC,474,-1.78,-487.5,1762,1952,3066,4095,59.5,-13.4,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1951,3067,3067,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.39,44.76
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,494,-0.45,0.0,1763,2144,3067,4094,61.5,-13.1,73,530,4.53,0.00,28.27,1.320,10244,0.054,0.000,2184,2144,2484,2484,4094,0,0,0,0,0,0,26.11,25.26,24.21,10.39,44.68
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,535,1.78,487.5,2184,2144,2484,4094,64.4,0.0,79,577,7.50,0.00,27.92,1.288,11270,0.029,0.000,2891,2144,1915,1915,4094,0,0,0,0,0,0,25.54,25.70,23.84,10.27,44.76
$GC,611,1.78,487.5,2890,2144,1914,4094,57.7,12.6,91,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2144,1914,1914,4094,0,0,0,0,0,0,25.52,25.54,25.54,10.14,43.81
$GC,650,1.78,487.5,2890,2144,1913,4094,52.4,13.6,97,657,0.00,1.15,0.00,0.000,516,0.000,0.043,2891,1716,1913,1913,4094,0,0,0,0,0,0,25.70,25.39,25.72,10.13,44.48
$GC,757,1.78,487.5,2891,1715,1910,4094,38.8,12.1,114,763,0.00,1.00,0.00,0.000,1030,0.000,0.028,2891,2123,1909,1909,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.11,44.84
$GC,797,1.78,487.5,2891,2122,1908,4094,33.9,12.2,120,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1908,1908,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.12,45.15
$GC,836,1.78,487.5,2891,2122,1908,4094,29.1,12.3,126,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1907,1907,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.12,45.66
$GC,876,1.78,487.5,2890,2123,1907,4094,24.4,11.8,132,883,0.00,1.10,0.00,0.000,516,0.000,0.044,2891,1707,1906,1906,4094,0,0,0,0,0,0,26.18,25.82,26.19,10.13,46.57
$GC,1001,1.83,522.3,2891,1706,1903,4094,11.9,10.0,152,1009,0.10,1.02,3.15,0.321,11270,0.055,0.028,2906,2128,1874,1874,4094,0,0,0,0,0,0,25.99,26.02,24.78,10.20,50.94
$GC,1043,1.83,522.3,2905,2128,1872,4094,7.5,10.6,158,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2128,1873,1873,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.21,51.69
$GC,1083,1.83,522.3,2905,2127,1872,4094,3.2,10.8,164,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2128,1872,1872,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.21,51.81
$STATE,1093,end climb,FINISH_DEPTH_REACHED
$STATE,1094,begin subsurface finish
$FINISH1,1.5,1.023954,115
$GC,1104,0.17,114.8,2906,2127,1871,4094,1.5,11.2,166,1118,5.32,0.00,-3.80,0.000,20998,0.037,0.000,2395,2128,2356,2356,4094,0,0,0,0,0,0,26.13,24.65,26.17,10.22,52.28
$FINISH2,0.8
$STATE,1119,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,032027
$TT8_MAMPS,0.025466,0.133322
$HUMID,52.59
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,23.84,43.737
$10V_AH,10.35,43.381
$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,34.525,6.950,59.350,0.000,0.000,149.677,145.317,295.859,0.000,0.000,21.095,437.163,484.845,152.364,816.431,291.965,0.000,340.173,0.000,254.269,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1257.660,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14193,168
$CAP_FILE_SIZE,35892,0
$CFSIZE,1024409600,943652864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230817,032804,6123.310,-17352.943,11,0.8,19,7.0,0.0,274.7,11,4.8