version: 66.13
glider: 401
mission: 22
dive: 1916
start: 8 29 117 13 34 17
data:
$ID,401
$MISSION,22
$DIVE,1916
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,290817,131256,6032.3486,-17338.9727,6,0.7,53,7.1,0.2,328.6,11,6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-3.8
$GPS2,290817,131256,6032.3486,-17338.9727,6,0.7,53,7.1,0.2,328.6,11,6.8
$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,158.9,13071,-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,11,-1.82,-585.0,2390,1951,2375,4092,0.0,0.0,0,22,6.43,0.00,-2.00,0.000,20482,0.023,0.000,1762,1951,2594,2594,4094,0,0,0,0,0,0,26.16,28.83,26.21,10.36,53.42
$GC,27,-1.82,-585.0,1762,1951,2594,4094,0.2,0.0,1,37,0.00,0.00,-5.22,0.000,16390,0.000,0.000,1762,1951,3171,3171,4094,0,0,0,0,0,0,26.45,24.55,26.46,10.41,52.87
$GC,75,-1.82,-585.0,1761,1951,3173,4094,4.7,-14.6,7,84,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3173,3173,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.54,53.22
$GC,122,-1.82,-585.0,1761,1951,3175,4095,12.7,-17.0,13,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3174,3174,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.54,52.40
$GC,170,-1.82,-585.0,1761,1951,3175,4094,20.2,-14.8,19,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3176,3176,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.54,52.79
$GC,217,-1.82,-585.0,1761,1951,3177,4095,25.8,-11.5,25,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3177,3177,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.51,51.96
$GC,264,-1.82,-585.0,1761,1951,3178,4095,31.6,-12.6,31,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3178,3178,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.48,51.53
$GC,312,-1.82,-585.0,1761,1951,3179,4094,37.7,-12.8,37,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3179,3179,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.46,50.39
$GC,360,-1.82,-585.0,1761,1951,3180,4095,44.1,-13.3,43,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3181,3181,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.45,49.25
$GC,407,-1.82,-585.0,1761,1951,3181,4095,50.4,-13.1,49,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3181,3181,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.43,48.58
$GC,455,-1.82,-585.0,1761,1951,3183,4095,56.7,-13.4,55,464,0.00,1.15,0.00,0.000,260,0.000,0.044,1761,2383,3183,3183,4094,0,0,0,0,0,0,26.60,26.16,26.61,10.42,47.99
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,491,-0.45,0.0,1762,2113,3183,4095,60.5,-13.1,58,536,4.55,0.00,33.67,1.333,10246,0.052,0.000,2187,2111,2484,2484,4095,0,0,0,0,0,0,26.18,24.91,24.14,10.42,48.14
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,542,1.82,585.0,2187,2111,2484,4095,64.4,0.0,63,587,7.60,0.00,33.33,1.287,10246,0.029,0.000,2903,2111,1802,1802,4094,0,0,0,0,0,0,25.53,24.70,23.74,10.27,47.08
$GC,627,1.82,585.0,2902,2111,1801,4094,57.5,12.8,73,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1801,1801,4094,0,0,0,0,0,0,25.51,25.52,25.52,10.12,46.41
$GC,677,1.82,585.0,2902,2111,1800,4094,50.8,14.0,79,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1799,1799,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.11,46.22
$GC,726,1.82,585.0,2903,2111,1797,4094,44.0,14.0,85,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1797,1797,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.11,46.65
$GC,775,1.82,585.0,2902,2111,1796,4094,37.2,13.6,91,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.10,46.92
$GC,824,1.82,585.0,2903,2111,1794,4094,30.8,13.1,97,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2111,1794,1794,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.10,47.08
$GC,873,1.82,585.0,2902,2110,1793,4094,24.1,13.8,103,882,0.00,0.98,0.00,0.000,516,0.000,0.045,2903,1734,1793,1793,4094,0,0,0,0,0,0,26.19,25.79,26.20,10.11,47.91
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1072,begin subsurface finish
$FINISH1,1.5,1.024149,101
$GC,1085,0.15,101.1,2903,2148,1787,4094,1.5,11.3,132,1104,5.22,0.00,-5.15,0.000,20486,0.022,0.000,2391,2149,2369,2369,4094,0,0,0,0,0,0,26.10,25.44,26.16,10.20,53.03
$FINISH2,0.2
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1106,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,130423
$TT8_MAMPS,0.025466,0.261401
$HUMID,53.03
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.74,55.322
$10V_AH,10.14,52.312
$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,23.800,4.225,67.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.428,0.000,118.119,562.977,111.940,0.000,349.275,0.000,326.915,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,45.135,1333.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.830,364.072,288.170,427.500,560.336,0.000,0.000,0.000,0.000,0.000
$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,14307,134
$CAP_FILE_SIZE,23610,0
$CFSIZE,1024409600,925335552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,131256,6032.349,-17338.973,6,0.7,53,7.1,0.2,328.6,11,6.8