version: 66.13
glider: 401
mission: 22
dive: 1018
start: 8 14 117 4 41 50
data:
$ID,401
$MISSION,22
$DIVE,1018
$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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,140817,043324,6131.8682,-17350.1504,2,0.9,13,7.0,0.4,282.8,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-36.3
$GPS2,140817,044041,6131.8525,-17350.2363,10,1.1,18,7.0,0.4,176.5,9,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.056963,0.641571
$KALMAN_X,62945.960938,-440.390137,-267.903839,-256073.421875,-90.597626
$KALMAN_Y,-59954.074219,2563.103516,837.545837,309421.125000,-181.841675
$MHEAD_RNG_PITCHd_Wd,358.1,21813,-4.4,-10.526,-9.28,23508
$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,-1.13,-487.5,229,1967,1676,4092,0.0,0.0,0,20,9.32,0.00,0.00,0.000,2049,0.097,0.000,1018,1960,1676,1676,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.19,52.63
$GC,23,-1.13,-487.5,1018,1962,1676,4094,0.7,0.0,1,50,10.15,0.00,-12.73,0.000,18950,0.042,0.000,1969,1966,3056,3056,4095,0,0,0,0,0,0,25.98,24.91,26.01,10.20,52.63
$GC,88,-1.13,-487.5,1969,1966,3056,4095,0.1,-0.3,9,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1966,3056,3056,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.49,52.40
$GC,136,-1.13,-487.5,1969,1964,3056,4094,1.0,-3.7,15,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1964,3057,3057,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.49,52.40
$GC,183,-1.13,-487.5,1969,1964,3057,4095,5.1,-9.2,21,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1964,3057,3057,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.51,51.92
$GC,230,-1.13,-487.5,1969,1964,3059,4094,9.8,-10.8,27,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1964,3058,3058,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.50,51.57
$GC,278,-1.13,-487.5,1969,1964,3059,4095,13.9,-8.7,33,287,0.00,1.15,0.00,0.000,516,0.000,0.048,1969,1514,3059,3059,4095,0,0,0,0,0,0,26.40,26.08,26.41,10.50,50.39
$GC,298,-1.13,-487.5,1969,1513,3059,4095,15.9,-9.3,35,307,0.00,1.05,0.00,0.000,1030,0.000,0.025,1970,1962,3059,3059,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.50,50.47
$GC,344,-1.13,-487.5,1969,1962,3060,4095,20.1,-9.0,41,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1962,3060,3060,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.51,50.43
$GC,390,-1.13,-487.5,1969,1962,3061,4095,23.9,-8.7,47,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1962,3061,3061,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.50,50.39
$GC,437,-1.13,-487.5,1969,1962,3061,4095,26.8,-6.0,53,447,0.00,1.15,0.00,0.000,516,0.000,0.050,1970,1520,3061,3061,4095,0,0,0,0,0,0,26.48,26.17,26.50,10.46,49.64
$GC,464,-1.13,-487.5,1969,1520,3061,4095,28.5,-5.7,56,474,0.00,1.00,0.00,0.000,1030,0.000,0.024,1969,1961,3062,3062,4095,0,0,0,0,0,0,26.29,26.28,26.32,10.45,49.05
$GC,512,-1.13,-487.5,1969,1960,3062,4095,31.5,-6.3,62,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1961,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.41,48.42
$GC,559,-1.13,-487.5,1969,1961,3062,4094,34.6,-6.7,68,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1961,3062,3062,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.40,48.14
$GC,606,-1.13,-487.5,1969,1961,3063,4094,37.5,-5.9,74,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1961,3063,3063,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.38,46.96
$GC,653,-1.13,-487.5,1969,1961,3064,4095,40.4,-6.4,80,662,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1961,3063,3063,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.38,46.10
$GC,701,-1.13,-487.5,1969,1961,3064,4095,43.5,-6.6,86,709,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1961,3063,3063,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.36,45.86
$GC,748,-1.13,-487.5,1969,1961,3064,4095,46.6,-6.5,92,756,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1961,3064,3064,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.36,45.31
$GC,794,-1.13,-487.5,1969,1961,3065,4095,49.6,-6.5,98,802,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1961,3065,3065,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.35,45.43
$GC,841,-1.13,-487.5,1969,1960,3066,4095,52.5,-6.5,104,850,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1961,3066,3066,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.34,45.66
$GC,888,-1.13,-487.5,1969,1960,3066,4094,55.5,-6.1,110,897,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1961,3066,3066,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.33,45.43
$GC,936,-1.13,-487.5,1969,1961,3067,4094,58.4,-6.2,116,945,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1961,3066,3066,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.33,46.06
$STATE,959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,959,begin apogee
$GC,967,-0.45,0.0,1969,2137,3067,4095,60.2,-6.4,119,1002,2.25,0.00,28.05,1.296,10244,0.046,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.41,25.47,24.43,10.33,45.62
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1007,1.13,487.5,2186,2137,2484,4094,61.7,0.0,123,1050,5.28,0.00,27.88,1.271,11270,0.038,0.000,2684,2138,1915,1915,4094,0,0,0,0,0,0,25.69,25.88,23.96,10.20,45.31
$GC,1089,2.69,1526.9,2684,2137,1915,4094,58.1,6.0,133,1160,5.20,1.15,57.45,1.203,10756,0.022,0.038,3185,1706,704,704,4094,0,0,0,0,0,0,25.49,24.34,23.71,10.08,45.47
$GC,1210,3.00,1728.8,3184,1706,703,4094,39.3,9.6,148,1229,0.93,1.02,12.55,0.930,11270,0.023,0.027,3286,2117,470,470,4094,0,0,0,0,0,0,25.22,25.19,24.03,9.83,45.66
$GC,1268,3.74,2228.5,3285,2116,468,4094,34.1,8.3,155,1295,2.45,0.00,20.75,0.929,10502,0.021,0.000,3525,2117,51,51,4094,0,0,0,0,0,0,25.30,24.81,24.05,9.78,45.27
$GC,1334,3.74,2228.5,3525,2116,49,4094,24.8,14.2,163,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2117,49,49,4094,0,0,0,0,0,0,25.44,25.46,25.45,9.71,45.86
$GC,1382,4.31,2607.8,3525,2116,48,4094,20.1,8.9,169,1391,1.52,0.00,0.00,0.000,2054,0.022,0.000,3681,2117,47,47,4094,0,0,0,0,0,0,25.44,25.45,25.44,9.76,48.14
$GC,1429,4.31,2607.8,3681,2116,44,4094,12.6,19.4,175,1439,0.00,1.10,0.00,0.000,2564,0.000,0.047,3681,1706,44,44,4094,0,0,0,0,0,0,25.76,25.46,25.76,9.79,49.72
$GC,1469,4.31,2607.8,3681,1705,40,4094,2.3,25.7,180,1478,0.00,1.02,0.00,0.000,3078,0.000,0.035,3682,2110,38,38,4094,0,0,0,0,0,0,25.62,25.57,25.63,9.80,51.14
$STATE,1485,end climb,FINISH_DEPTH_REACHED
$STATE,1486,begin subsurface finish
$FINISH1,0.3,1.024033,109
$GC,1495,0.16,109.2,3681,2135,39,4094,0.3,17.7,182,1531,13.23,0.00,-19.83,0.000,20742,0.020,0.000,2407,2145,2362,2362,4094,0,0,0,0,0,0,25.70,24.65,25.74,9.81,52.00
$FINISH2,0.3
$STATE,1532,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1532,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,031836
$TT8_MAMPS,0.026215,0.245672
$HUMID,52.71
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.71,28.145
$10V_AH,10.14,30.832
$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,50.325,9.100,146.675,0.000,0.000,22.624,17.114,226.951,0.000,0.000,19.794,510.971,0.992,218.217,1036.731,219.519,33.455,585.072,0.000,449.301,0.000,0.542,0.000
$DEVICE_MAMPS,97.155,159.885,1295.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.267,505.391,399.870,591.706,767.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,17747,186
$CAP_FILE_SIZE,44327,0
$CFSIZE,1024409600,969441280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140817,044041,6131.853,-17350.236,10,1.1,18,7.0,0.4,176.5,9,4.8