version: 66.13
glider: 401
mission: 22
dive: 1911
start: 8 29 117 11 26 39
data:
$ID,401
$MISSION,22
$DIVE,1911
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$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
$GPS1,290817,104518,6033.3306,-17340.2578,6,0.9,19,7.1,0.0,0.0,10,4.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.1
$GPS2,290817,104518,6033.3306,-17340.2578,6,0.9,19,7.1,0.0,0.0,10,4.7
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W19S
$TGT_LATLONG,6025.500,-17335.520
$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,156.3,15135,-10.3,-10.526,-13.92,8308
$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,-1.82,-585.0,2388,1950,2369,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,4097,0.022,0.000,1837,1950,2368,2368,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.35,52.52
$GC,23,-1.82,-585.0,1836,1950,2368,4094,0.2,0.0,1,37,0.55,1.17,-7.20,0.000,20996,0.028,1.250,1770,1524,3171,3171,4095,0,0,0,0,0,0,26.14,24.25,26.16,10.35,52.52
$GC,272,-1.82,-585.0,1770,1524,3178,4095,34.0,-11.1,41,278,0.00,1.00,0.00,0.000,1030,0.000,0.025,1770,1953,3178,3178,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.48,52.00
$GC,313,-1.82,-585.0,1770,1953,3178,4095,38.4,-11.0,47,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1953,3178,3178,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.46,51.41
$GC,353,-1.82,-585.0,1770,1953,3179,4094,43.0,-11.2,53,360,0.00,1.08,0.00,0.000,260,0.000,0.044,1770,2367,3179,3179,4094,0,0,0,0,0,0,26.53,26.10,26.53,10.45,50.70
$GC,430,-1.82,-585.0,1769,2367,3181,4094,51.8,-11.7,65,437,0.00,1.02,0.00,0.000,1030,0.000,0.029,1770,1957,3180,3180,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.43,49.37
$GC,471,-1.82,-585.0,1770,1957,3182,4095,56.9,-12.5,71,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1957,3182,3182,4095,0,0,0,0,0,0,26.57,26.59,26.58,10.42,49.29
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,495,begin apogee
$GC,506,-0.45,0.0,1770,2139,3183,4094,60.5,-12.8,75,548,4.45,0.00,33.38,1.314,10244,0.050,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.17,25.21,24.15,10.42,48.93
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,554,1.82,585.0,2186,2138,2485,4094,63.7,0.0,82,601,7.65,0.00,33.12,1.275,11270,0.030,0.000,2903,2139,1803,1803,4094,0,0,0,0,0,0,25.51,25.67,23.74,10.27,48.62
$GC,636,1.82,585.0,2903,2138,1802,4094,56.5,12.6,95,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1801,1801,4094,0,0,0,0,0,0,25.48,25.48,25.48,10.12,47.20
$GC,676,1.82,585.0,2903,2139,1801,4094,50.9,13.9,101,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1801,1801,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.12,47.00
$GC,716,1.82,585.0,2903,2138,1800,4094,45.3,13.9,107,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1799,1799,4095,0,0,0,0,0,0,25.82,25.84,25.83,10.11,47.12
$GC,757,1.82,585.0,2903,2139,1797,4095,39.5,14.7,113,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1798,1798,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.10,47.75
$GC,797,1.82,585.0,2903,2139,1796,4094,33.7,14.5,119,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1796,1796,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.10,48.22
$GC,837,1.82,585.0,2903,2138,1795,4094,28.1,13.7,125,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1795,1795,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.10,48.62
$GC,877,1.82,585.0,2902,2138,1794,4094,22.8,13.0,131,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1794,1794,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.13,48.62
$GC,917,1.82,585.0,2903,2139,1793,4094,18.2,11.0,137,924,0.00,1.12,0.00,0.000,516,0.000,0.045,2904,1714,1793,1793,4094,0,0,0,0,0,0,26.22,25.80,26.22,10.15,50.23
$STATE,1067,end climb,SURFACE_DEPTH_REACHED
$STATE,1072,begin surface coast
$FINISH,0.2,1.024155
$STATE,1084,end surface coast,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$SM_CCo,1189,0.00,0.000,0,0,1787,599.30
$SM_GC,1.01,27.67,0.55,0.00,0.019,0.030,0.000,238,1972,1787,-6.55,-1.69,599.30,0,0,0,0,0,0,26.14,26.15,26.17
$IRIDIUM_FIX,5952.82,-17420.78,290817,103602
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.58
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.74,55.158
$10V_AH,10.37,52.179
$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,45.900,6.825,66.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,426.314,333.010,153.183,237.645,108.877,0.000,321.191,0.000,246.969,0.000,0.543,0.000
$DEVICE_MAMPS,49.725,1250.010,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,10800,164
$CAP_FILE_SIZE,25541,0
$CFSIZE,1024409600,925581312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,114730,6032.980,-17339.568,7,1.0,19,7.1,0.5,46.5,10,4.8