version: 66.13
glider: 401
mission: 22
dive: 980
start: 8 13 117 12 2 58
data:
$ID,401
$MISSION,22
$DIVE,980
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-4.8
$GPS2,130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.132415,0.419586
$KALMAN_X,65600.742188,147.385223,208.881744,-254865.921875,72.632584
$KALMAN_Y,-54671.378906,2349.905273,801.080078,291283.781250,-18.464478
$MHEAD_RNG_PITCHd_Wd,335.4,35334,-9.8,-10.526,-13.45,9048
$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,8,-1.62,-487.5,2396,1956,2365,4092,0.0,0.0,0,20,5.80,0.00,-3.33,0.000,20482,0.025,0.000,1823,1956,2726,2726,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.33,52.71
$GC,24,-1.62,-487.5,1822,1956,2726,4094,0.1,0.0,1,33,0.00,0.00,-3.10,0.000,16390,0.000,0.000,1823,1951,3055,3055,4094,0,0,0,0,0,0,26.41,25.65,26.41,10.40,52.95
$GC,70,-1.62,-487.5,1822,1956,3056,4094,4.3,-13.7,7,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1957,3056,3056,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.47,52.83
$GC,115,-1.62,-487.5,1822,1956,3057,4095,9.8,-12.0,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1956,3057,3057,4094,0,0,0,0,0,0,26.36,26.39,26.38,10.48,52.59
$GC,161,-1.62,-487.5,1822,1956,3058,4094,15.8,-14.1,19,170,0.00,1.08,0.00,0.000,516,0.000,0.049,1822,1533,3058,3058,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.48,51.96
$GC,181,-1.62,-487.5,1821,1533,3059,4095,18.7,-14.8,21,190,0.00,0.98,0.00,0.000,1030,0.000,0.027,1822,1950,3059,3059,4095,0,0,0,0,0,0,26.21,26.18,26.22,10.49,51.92
$GC,227,-1.62,-487.5,1822,1951,3060,4095,25.1,-12.4,27,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1952,3060,3060,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.44,51.37
$GC,274,-1.62,-487.5,1822,1952,3061,4094,30.5,-11.6,33,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1952,3061,3061,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.41,50.86
$GC,321,-1.62,-487.5,1822,1953,3062,4094,35.8,-10.8,39,330,0.00,1.08,0.00,0.000,260,0.000,0.043,1822,2365,3062,3062,4094,0,0,0,0,0,0,26.49,26.20,26.50,10.39,49.29
$GC,360,-1.62,-487.5,1822,2365,3063,4094,40.2,-11.1,44,370,0.00,1.05,0.00,0.000,1030,0.000,0.030,1822,1942,3063,3063,4095,0,0,0,0,0,0,26.29,26.25,26.29,10.38,48.62
$GC,407,-1.62,-487.5,1822,1943,3064,4095,45.6,-11.5,50,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1943,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.37,47.75
$GC,454,-1.62,-487.5,1822,1942,3064,4095,50.8,-11.6,56,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1942,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.36,47.20
$GC,501,-1.62,-487.5,1822,1943,3065,4095,56.2,-11.5,62,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1943,3066,3066,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.36,46.61
$STATE,536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,536,begin apogee
$GC,544,-0.45,0.0,1822,2133,3066,4094,60.8,-11.3,67,580,3.88,0.00,28.23,1.303,10244,0.054,0.000,2184,2134,2484,2484,4094,0,0,0,0,0,0,26.29,25.39,24.36,10.34,46.73
$STATE,581,end apogee,CONTROL_FINISHED_OK
$STATE,581,begin climb
$GC,584,1.62,487.5,2184,2133,2484,4094,63.3,0.0,71,627,6.95,1.12,28.02,1.278,10500,0.034,0.050,2851,2555,1915,1915,4094,0,0,0,0,0,0,25.56,25.51,23.91,10.22,45.82
$GC,677,1.62,487.5,2851,2555,1914,4094,56.3,11.9,83,687,0.00,1.05,0.00,0.000,1030,0.000,0.024,2851,2136,1914,1914,4094,0,0,0,0,0,0,25.49,25.47,25.54,10.08,45.51
$GC,725,1.62,487.5,2851,2135,1913,4094,50.7,12.2,89,735,0.00,1.08,0.00,0.000,516,0.000,0.045,2851,1724,1913,1913,4095,0,0,0,0,0,0,25.84,25.56,25.85,10.08,45.43
$GC,843,1.62,487.5,2851,1723,1910,4095,36.4,11.3,106,852,0.00,0.95,0.00,0.000,1030,0.000,0.028,2852,2113,1910,1910,4095,0,0,0,0,0,0,25.86,25.84,25.89,10.07,45.82
$GC,889,1.62,487.5,2851,2112,1909,4095,31.4,11.1,112,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2113,1909,1909,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.06,46.33
$GC,934,1.62,487.5,2851,2112,1908,4094,26.6,10.9,118,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2112,1907,1907,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.07,47.20
$GC,981,1.74,569.8,2851,2112,1907,4094,22.0,9.6,124,992,0.20,1.05,5.68,0.628,10756,0.046,0.046,2881,1717,1819,1819,4095,0,0,0,0,0,0,26.05,25.79,24.93,10.09,47.40
$GC,1023,1.95,708.3,2881,1717,1819,4095,18.1,9.0,129,1041,0.60,0.93,8.57,0.690,11270,0.034,0.029,2945,2098,1663,1663,4094,0,0,0,0,0,0,25.98,25.96,24.91,10.11,48.66
$GC,1080,1.95,708.3,2945,2099,1662,4094,11.9,12.6,136,1088,0.00,1.25,0.00,0.000,260,0.000,0.054,2946,2562,1662,1662,4094,0,0,0,0,0,0,26.15,25.82,26.16,10.11,50.66
$GC,1112,1.95,708.3,2945,2561,1661,4094,7.8,12.0,140,1122,0.00,1.17,0.00,0.000,1030,0.000,0.029,2946,2102,1661,1661,4094,0,0,0,0,0,0,25.97,25.94,25.98,10.11,51.33
$GC,1158,1.95,708.3,2945,2094,1659,4094,2.8,11.1,146,1168,0.00,1.00,0.00,0.000,516,0.000,0.050,2946,1712,1659,1659,4095,0,0,0,0,0,0,26.24,25.93,26.25,10.13,51.89
$STATE,1176,end climb,FINISH_DEPTH_REACHED
$STATE,1176,begin subsurface finish
$FINISH1,0.1,1.001728,0
$GC,1185,0.00,0.0,2945,2144,1659,4094,0.1,13.5,148,1204,6.15,0.00,-7.15,0.000,20998,0.024,0.000,2341,2145,2489,2489,4094,0,0,0,0,0,0,26.05,24.96,26.09,10.14,52.32
$FINISH2,0.4
$STATE,1205,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1205,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,113237
$TT8_MAMPS,0.026215,0.246421
$HUMID,52.44
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.91,26.848
$10V_AH,10.16,29.828
$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,23.575,15.900,70.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,422.272,0.000,141.840,622.416,77.968,33.429,405.303,0.000,364.420,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,54.315,1302.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.157,407.568,322.541,477.861,618.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,14263,150
$CAP_FILE_SIZE,32616,0
$CFSIZE,1024409600,971341824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,114154,6124.774,-17345.021,6,0.8,23,7.1,0.4,294.9,11,4.8