version: 66.13
glider: 401
mission: 22
dive: 2015
start: 8 31 117 6 44 55
data:
$ID,401
$MISSION,22
$DIVE,2015
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,310817,062327,6017.1338,-17329.5195,5,0.8,17,7.1,0.0,213.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.2
$GPS2,310817,062327,6017.1338,-17329.5195,5,0.8,17,7.1,0.0,213.6,10,4.7
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$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,147.6,22684,-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,-585.0,2387,1965,2372,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,4097,0.023,0.000,1830,1966,2372,2372,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.34,52.48
$GC,24,-1.82,-585.0,1830,1966,2372,4094,0.0,0.0,1,37,0.47,0.00,-7.50,0.000,20486,0.035,0.000,1776,1966,3171,3171,4094,0,0,0,0,0,0,26.10,24.50,26.12,10.34,52.75
$GC,71,-1.82,-585.0,1775,1966,3172,4094,3.7,-14.2,8,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1966,3172,3172,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.51,52.32
$GC,112,-1.82,-585.0,1776,1966,3173,4095,10.5,-17.3,14,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1966,3174,3174,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.52,52.20
$GC,152,-1.82,-585.0,1775,1966,3175,4095,17.3,-17.6,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1966,3175,3175,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.52,52.20
$GC,192,-1.82,-585.0,1775,1966,3176,4095,24.1,-16.6,26,199,0.00,1.08,0.00,0.000,260,0.000,0.047,1776,2366,3176,3176,4095,0,0,0,0,0,0,26.45,26.01,26.46,10.51,52.95
$GC,288,-1.82,-585.0,1775,2366,3178,4095,36.4,-12.3,41,294,0.00,1.05,0.00,0.000,1030,0.000,0.029,1776,1950,3177,3177,4094,0,0,0,0,0,0,26.19,26.16,26.21,10.46,51.14
$GC,329,-1.82,-585.0,1775,1950,3179,4094,41.6,-12.6,47,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3179,3179,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,50.23
$GC,370,-1.82,-585.0,1775,1950,3180,4095,46.7,-12.2,53,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3180,3180,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.43,49.56
$GC,410,-1.82,-585.0,1775,1950,3181,4095,51.8,-12.5,59,417,0.00,1.08,0.00,0.000,516,0.000,0.050,1776,1520,3181,3181,4095,0,0,0,0,0,0,26.55,26.09,26.56,10.42,49.37
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,483,-0.45,0.0,1776,2134,3183,4095,60.2,-12.9,69,525,4.38,0.00,33.47,1.312,10244,0.050,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.15,25.19,24.11,10.41,48.77
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,531,1.82,585.0,2186,2134,2484,4094,63.6,0.0,76,578,7.65,0.00,33.25,1.275,11270,0.030,0.000,2903,2134,1801,1801,4094,0,0,0,0,0,0,25.48,25.67,23.71,10.26,48.26
$GC,613,1.82,585.0,2901,2134,1800,4094,56.6,12.7,89,620,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1712,1800,1800,4094,0,0,0,0,0,0,25.47,25.15,25.48,10.12,47.04
$GC,727,1.82,585.0,2902,1712,1796,4094,41.2,13.6,107,734,0.00,1.05,0.00,0.000,1030,0.000,0.031,2902,2132,1796,1796,4094,0,0,0,0,0,0,25.64,25.61,25.67,10.10,47.55
$GC,768,1.82,585.0,2901,2132,1795,4094,35.5,14.0,113,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1795,1795,4094,0,0,0,0,0,0,26.02,26.04,26.03,10.10,48.77
$GC,809,1.82,585.0,2902,2132,1794,4094,30.0,13.5,119,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1794,1794,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.10,48.22
$GC,849,1.82,585.0,2902,2132,1792,4094,24.4,14.0,125,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1792,1792,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.10,49.33
$GC,890,1.83,592.6,2902,2132,1790,4094,19.8,10.4,131,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1791,1791,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.13,49.76
$GC,930,1.86,616.1,2902,2132,1790,4095,15.7,10.2,137,938,0.10,0.00,3.00,0.304,10246,0.075,0.000,2924,2133,1765,1765,4094,0,0,0,0,0,0,26.06,25.41,24.42,10.15,50.51
$GC,973,1.86,616.1,2923,2132,1764,4094,11.2,10.7,143,979,0.00,1.12,0.00,0.000,516,0.000,0.045,2923,1707,1764,1764,4094,0,0,0,0,0,0,26.29,25.86,26.30,10.16,51.53
$STATE,1051,end climb,FINISH_DEPTH_REACHED
$STATE,1051,begin subsurface finish
$FINISH1,1.4,1.024188,98
$GC,1064,0.15,98.4,2923,2140,1761,4094,1.4,11.6,156,1078,5.50,0.00,-5.47,0.000,20486,0.022,0.000,2388,2140,2375,2375,4094,0,0,0,0,0,0,26.09,24.41,26.14,10.18,52.83
$FINISH2,0.1
$STATE,1079,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1079,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,050546
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.22
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.71,58.586
$10V_AH,10.35,54.679
$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,23.775,9.775,69.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,409.372,246.098,146.420,229.935,110.368,0.000,319.122,0.000,238.510,0.000,0.544,0.000
$DEVICE_MAMPS,74.970,49.725,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10871,158
$CAP_FILE_SIZE,26913,0
$CFSIZE,1024409600,920469504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,062327,6017.134,-17329.520,5,0.8,17,7.1,0.0,213.6,10,4.7