version: 66.13
glider: 401
mission: 22
dive: 1198
start: 8 17 117 6 45 14
data:
$ID,401
$MISSION,22
$DIVE,1198
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,170817,063543,6204.8408,-17424.3555,7,0.8,23,6.8,0.0,80.8,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-34.8
$GPS2,170817,064438,6204.7856,-17424.3477,5,0.8,27,6.8,0.3,66.6,11,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W13N
$TGT_LATLONG,6211.700,-17441.039
$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,304.8,19285,-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,5,begin dive
$GC,9,-1.78,-487.5,239,1945,1692,4092,0.0,0.0,0,20,8.93,0.00,0.00,0.000,2049,0.077,0.000,1020,1946,1692,1692,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,52.59
$GC,24,-1.78,-487.5,1019,1945,1692,4094,0.5,0.0,1,51,8.02,1.23,-13.35,0.000,18692,0.045,1.259,1764,2380,3057,3057,4095,0,0,0,0,0,0,25.89,24.49,25.94,10.20,51.73
$GC,75,-1.78,-487.5,1763,2380,3057,4095,0.7,-2.2,7,85,0.00,1.08,0.00,0.000,1030,0.000,0.031,1764,1958,3057,3057,4095,0,0,0,0,0,0,25.91,25.91,25.94,10.50,52.16
$GC,122,-1.78,-487.5,1763,1958,3058,4095,7.5,-15.8,13,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3059,3059,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.50,51.37
$GC,168,-1.78,-487.5,1764,1958,3060,4095,15.7,-18.1,19,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3060,3060,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.50,51.81
$GC,219,-1.78,-487.5,1764,1958,3061,4095,22.8,-11.1,25,229,0.00,1.12,0.00,0.000,516,0.000,0.053,1764,1519,3061,3061,4095,0,0,0,0,0,0,26.29,25.98,26.30,10.47,50.23
$GC,273,-1.78,-487.5,1764,1518,3063,4095,28.3,-10.0,32,283,0.00,1.00,0.00,0.000,1030,0.000,0.025,1765,1956,3062,3062,4095,0,0,0,0,0,0,26.14,26.13,26.15,10.43,49.29
$GC,321,-1.78,-487.5,1764,1956,3063,4095,32.9,-9.8,38,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1955,3063,3063,4094,0,0,0,0,0,0,26.37,26.38,26.39,10.41,48.46
$GC,367,-1.78,-487.5,1764,1955,3064,4094,37.7,-10.5,44,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1956,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.39,47.59
$GC,413,-1.78,-487.5,1764,1955,3064,4095,42.3,-10.0,50,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1956,3065,3065,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.67
$GC,458,-1.78,-487.5,1764,1956,3065,4094,46.7,-9.7,56,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1956,3065,3065,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,46.49
$GC,506,-1.78,-487.5,1763,1957,3066,4094,51.3,-10.0,62,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1957,3066,3066,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.37,45.86
$GC,554,-1.78,-487.5,1764,1957,3067,4094,56.5,-10.4,68,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1957,3067,3067,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.36,45.90
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,592,-0.45,0.0,1764,2130,3068,4095,60.1,-10.7,72,628,4.53,0.00,28.35,1.302,10244,0.055,0.000,2186,2131,2484,2484,4094,0,0,0,0,0,0,26.21,25.31,24.24,10.35,45.43
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,633,1.78,487.5,2185,2130,2484,4094,62.3,0.0,76,677,7.55,0.00,28.02,1.269,11270,0.031,0.000,2893,2131,1917,1917,4094,0,0,0,0,0,0,25.58,25.73,23.84,10.22,45.07
$GC,716,1.78,487.5,2892,2130,1916,4094,55.7,12.5,86,726,0.00,1.15,0.00,0.000,260,0.000,0.052,2893,2551,1915,1915,4094,0,0,0,0,0,0,25.59,25.29,25.60,10.09,44.52
$GC,789,1.78,487.5,2892,2551,1913,4094,45.5,14.2,96,799,0.00,1.10,0.00,0.000,1030,0.000,0.025,2893,2114,1912,1912,4094,0,0,0,0,0,0,25.64,25.61,25.65,10.08,45.27
$GC,836,1.78,487.5,2892,2113,1911,4094,38.8,13.8,102,846,0.00,1.02,0.00,0.000,516,0.000,0.047,2893,1718,1911,1911,4094,0,0,0,0,0,0,25.94,25.67,25.96,10.08,45.31
$GC,896,1.78,487.5,2892,1718,1910,4094,31.1,12.9,110,905,0.00,0.93,0.00,0.000,1030,0.000,0.029,2893,2098,1909,1909,4094,0,0,0,0,0,0,25.83,25.79,25.84,10.08,46.10
$GC,944,1.78,487.5,2892,2098,1908,4094,25.0,12.9,116,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2099,1908,1908,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.08,46.37
$GC,992,1.80,500.9,2892,2098,1907,4094,19.7,10.3,122,1002,0.00,0.00,0.85,0.002,8198,0.000,0.000,2893,2098,1907,1907,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.10,47.51
$GC,1041,2.14,730.5,2893,2098,1906,4094,16.3,7.1,128,1061,1.10,1.27,13.75,0.753,10500,0.028,0.050,3002,2571,1631,1631,4094,0,0,0,0,0,0,25.99,25.62,24.78,10.14,48.70
$GC,1151,2.21,777.5,3001,2570,1628,4094,5.5,9.8,143,1162,0.25,1.20,4.07,0.399,11270,0.033,0.027,3033,2092,1576,1576,4094,0,0,0,0,0,0,25.93,25.91,24.96,10.12,51.49
$STATE,1182,end climb,FINISH_DEPTH_REACHED
$STATE,1183,begin subsurface finish
$FINISH1,1.5,1.023798,126
$GC,1192,0.19,125.6,3033,2173,1575,4095,1.5,11.2,147,1211,6.57,0.00,-7.10,0.000,20998,0.024,0.000,2398,2177,2342,2342,4094,0,0,0,0,0,0,25.96,24.79,26.00,10.12,51.53
$FINISH2,0.2
$STATE,1212,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1212,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,052627
$TT8_MAMPS,0.025466,0.241178
$HUMID,52.40
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.84,33.565
$10V_AH,10.14,35.176
$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,36.950,11.625,75.050,0.000,0.000,25.950,22.076,286.385,0.000,0.000,28.603,427.625,0.972,142.231,962.577,229.657,0.000,412.704,0.000,363.821,0.000,0.542,0.000
$DEVICE_MAMPS,77.265,1259.190,1302.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.478,404.893,320.356,475.119,619.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,14324,149
$CAP_FILE_SIZE,36258,0
$CFSIZE,1024409600,960610304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,176.74,0x2138e4,0,24
$GPS,170817,064438,6204.786,-17424.348,5,0.8,27,6.8,0.3,66.6,11,4.7