version: 66.13
glider: 401
mission: 22
dive: 1117
start: 8 15 117 21 40 39
data:
$ID,401
$MISSION,22
$DIVE,1117
$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,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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,150817,212837,6152.3613,-17405.4102,5,1.0,14,6.9,0.0,25.0,9,5.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-42.1
$GPS2,150817,214004,6152.4214,-17405.4141,6,0.8,17,6.9,0.0,203.6,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$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,291.4,16249,-11.5,-10.526,-14.94,6951
$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,6,begin dive
$GC,9,-1.78,-487.5,230,1947,1792,4092,0.0,0.0,0,18,6.40,0.00,0.00,0.000,2049,0.096,0.000,769,1948,1793,1793,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.24,50.98
$GC,22,-1.78,-487.5,768,1947,1792,4094,0.8,0.0,1,52,10.75,1.15,-11.90,0.000,19204,0.046,1.274,1764,1526,3056,3056,4094,0,0,0,0,0,0,25.87,24.51,25.94,10.24,51.41
$GC,67,-1.78,-487.5,1763,1526,3057,4094,0.1,-0.5,8,74,0.00,1.02,0.00,0.000,1030,0.000,0.024,1764,1990,3056,3056,4095,0,0,0,0,0,0,25.89,25.87,25.89,10.52,51.02
$GC,107,-1.78,-487.5,1763,1990,3057,4095,3.0,-11.5,14,113,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1990,3057,3057,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.52,50.90
$GC,145,-1.78,-487.5,1763,1990,3058,4094,9.3,-16.9,20,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1990,3058,3058,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.52,50.70
$GC,184,-1.78,-487.5,1763,1990,3059,4094,16.3,-18.6,26,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1990,3060,3060,4095,0,0,0,0,0,0,26.22,26.24,26.24,10.52,50.31
$GC,222,-1.78,-487.5,1763,1990,3061,4095,23.4,-18.4,32,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1990,3061,3061,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.51,50.35
$GC,261,-1.78,-487.5,1763,1990,3062,4094,28.4,-12.5,38,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1990,3061,3061,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.47,49.13
$GC,300,-1.78,-487.5,1763,1990,3062,4095,33.4,-12.8,44,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1990,3063,3063,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.44,48.70
$GC,338,-1.78,-487.5,1763,1990,3064,4095,38.6,-13.3,50,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1990,3064,3064,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.41,47.87
$GC,377,-1.78,-487.5,1763,1990,3064,4095,43.6,-13.2,56,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1990,3065,3065,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.39,47.16
$GC,415,-1.78,-487.5,1763,1990,3065,4094,48.6,-13.0,62,422,0.00,1.20,0.00,0.000,516,0.000,0.048,1764,1521,3066,3066,4094,0,0,0,0,0,0,26.41,26.10,26.43,10.39,45.98
$GC,467,-1.78,-487.5,1763,1521,3067,4094,55.8,-14.3,70,473,0.00,0.95,0.00,0.000,1030,0.000,0.026,1764,1930,3067,3067,4094,0,0,0,0,0,0,26.24,26.21,26.25,10.38,45.07
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,505,-0.45,0.0,1764,2132,3068,4095,60.6,-13.8,75,541,4.55,0.00,28.35,1.308,10244,0.057,0.000,2186,2132,2484,2484,4094,0,0,0,0,0,0,26.16,25.27,24.22,10.37,45.43
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,546,1.78,487.5,2186,2131,2484,4094,63.6,0.0,81,588,7.45,1.15,27.98,1.281,10500,0.031,0.050,2891,2559,1915,1915,4094,0,0,0,0,0,0,25.48,25.42,23.83,10.24,44.88
$GC,627,1.78,487.5,2890,2559,1915,4094,57.0,12.0,94,634,0.00,1.08,0.00,0.000,1030,0.000,0.024,2891,2132,1914,1914,4094,0,0,0,0,0,0,25.39,25.37,25.41,10.11,44.84
$GC,667,1.78,487.5,2891,2132,1913,4094,52.0,12.7,100,673,0.00,1.08,0.00,0.000,516,0.000,0.044,2891,1720,1913,1913,4094,0,0,0,0,0,0,25.74,25.46,25.75,10.10,44.44
$GC,742,1.78,487.5,2891,1719,1911,4094,42.1,13.1,112,748,0.00,0.95,0.00,0.000,1030,0.000,0.028,2891,2108,1911,1911,4094,0,0,0,0,0,0,25.72,25.70,25.75,10.09,44.92
$GC,781,1.78,487.5,2891,2108,1910,4094,37.1,13.1,118,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,1910,1910,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.09,45.74
$GC,820,1.78,487.5,2891,2108,1908,4094,32.2,12.8,124,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,1908,1908,4095,0,0,0,0,0,0,26.07,26.08,26.08,10.09,45.19
$GC,858,1.78,487.5,2891,2108,1907,4095,27.3,12.5,130,865,0.00,1.02,0.00,0.000,516,0.000,0.045,2891,1720,1907,1907,4094,0,0,0,0,0,0,26.13,25.83,26.13,10.09,45.58
$GC,970,1.94,594.8,2890,1720,1905,4094,16.3,8.9,148,984,0.47,0.93,6.82,0.630,11270,0.031,0.028,2943,2105,1789,1789,4094,0,0,0,0,0,0,26.04,26.01,24.94,10.17,50.07
$GC,1017,1.94,594.8,2942,2104,1788,4094,11.4,10.8,155,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2105,1788,1788,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.15,51.53
$GC,1055,1.94,594.8,2942,2104,1787,4094,7.0,11.1,161,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2105,1787,1787,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.17,51.57
$GC,1094,1.94,594.8,2942,2105,1786,4094,2.6,11.8,167,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2105,1786,1786,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.17,52.04
$STATE,1105,end climb,FINISH_DEPTH_REACHED
$STATE,1105,begin subsurface finish
$FINISH1,1.0,1.023862,121
$GC,1113,0.18,121.1,2943,2104,1785,4094,1.0,11.6,169,1133,5.55,1.05,-5.03,0.000,20996,0.025,1.275,2400,1721,2347,2347,4094,0,0,0,0,0,0,26.08,24.68,26.12,10.18,52.04
$FINISH2,0.1
$STATE,1134,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1134,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,213121
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.11
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.83,31.175
$10V_AH,10.31,33.219
$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,35.175,12.050,63.150,0.000,0.000,47.761,39.364,356.107,0.000,0.000,18.817,446.340,296.057,175.269,687.631,230.010,0.000,375.986,0.000,260.134,0.000,0.542,0.000
$DEVICE_MAMPS,96.390,1275.255,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.512,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14225,172
$CAP_FILE_SIZE,38075,0
$CFSIZE,1024409600,964591616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,214004,6152.421,-17405.414,6,0.8,17,6.9,0.0,203.6,10,5.0