version: 66.13
glider: 401
mission: 22
dive: 1249
start: 8 18 117 3 14 5
data:
$ID,401
$MISSION,22
$DIVE,1249
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,180817,030331,6205.0781,-17427.7422,5,0.8,33,6.7,0.0,42.4,11,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-41.1
$GPS2,180817,031326,6205.1216,-17427.6348,9,0.8,17,6.8,0.5,56.1,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$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,155.5,16605,-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,10,-1.78,-487.5,235,1962,1767,4092,0.0,0.0,0,18,6.07,0.00,0.00,0.000,2049,0.098,0.000,747,1963,1767,1767,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.23,51.53
$GC,22,-1.78,-487.5,747,1962,1767,4094,0.7,0.0,1,52,11.12,1.15,-12.27,0.000,18692,0.056,1.261,1764,2377,3055,3055,4094,0,0,0,0,0,0,25.90,24.46,25.97,10.23,50.78
$GC,115,-1.78,-487.5,1764,2377,3056,4094,9.1,-17.6,16,122,0.00,1.05,0.00,0.000,1030,0.000,0.027,1765,1963,3057,3057,4095,0,0,0,0,0,0,25.95,25.92,25.98,10.51,50.70
$GC,155,-1.78,-487.5,1763,1963,3059,4095,16.6,-19.6,22,162,0.00,1.12,0.00,0.000,516,0.000,0.046,1764,1517,3058,3058,4094,0,0,0,0,0,0,26.22,25.91,26.23,10.51,50.23
$GC,207,-1.78,-487.5,1764,1517,3060,4094,25.5,-14.8,30,213,0.00,1.02,0.00,0.000,1030,0.000,0.026,1764,1952,3060,3060,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.46,49.52
$GC,247,-1.78,-487.5,1764,1951,3061,4094,30.7,-12.9,36,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3060,3060,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.43,49.25
$GC,287,-1.78,-487.5,1764,1952,3062,4095,36.1,-13.3,42,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3062,3062,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.41,48.03
$GC,326,-1.78,-487.5,1763,1953,3062,4095,41.2,-13.4,48,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3062,3062,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.39,47.12
$GC,365,-1.78,-487.5,1764,1953,3064,4095,46.4,-13.1,54,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3064,3064,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,46.06
$GC,404,-1.78,-487.5,1764,1953,3064,4095,51.6,-13.3,60,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3064,3064,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.38,45.58
$GC,443,-1.78,-487.5,1764,1953,3066,4095,56.9,-13.4,66,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3066,3066,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.37,45.74
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,475,-0.45,0.0,1764,2140,3066,4095,60.6,-13.4,70,511,4.53,0.00,28.17,1.310,10244,0.056,0.000,2185,2140,2484,2484,4095,0,0,0,0,0,0,26.14,25.23,24.17,10.36,44.92
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,515,1.78,487.5,2184,2140,2484,4095,63.6,0.0,76,558,7.45,1.12,28.02,1.279,10756,0.031,0.041,2893,1707,1915,1915,4094,0,0,0,0,0,0,25.46,25.41,23.80,10.24,45.55
$GC,591,1.78,487.5,2893,1706,1914,4094,57.0,12.4,88,597,0.00,1.08,0.00,0.000,1030,0.000,0.029,2893,2132,1914,1914,4094,0,0,0,0,0,0,25.32,25.28,25.34,10.11,44.25
$GC,631,1.78,487.5,2892,2132,1913,4094,51.8,13.1,94,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2132,1913,1913,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.10,44.84
$GC,669,1.78,487.5,2893,2132,1912,4094,46.8,12.7,100,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2132,1912,1912,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.09,44.21
$GC,708,1.78,487.5,2893,2133,1911,4094,41.7,13.3,106,715,0.00,1.12,0.00,0.000,516,0.000,0.044,2894,1709,1911,1911,4094,0,0,0,0,0,0,25.90,25.60,25.91,10.09,44.64
$GC,832,1.78,487.5,2893,1709,1906,4094,25.3,13.0,126,838,0.00,1.05,0.00,0.000,1030,0.000,0.030,2894,2135,1907,1907,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.08,45.90
$GC,872,1.78,487.5,2893,2135,1905,4094,20.4,12.1,132,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2135,1906,1906,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.09,46.69
$GC,911,2.00,632.6,2893,2135,1905,4094,17.0,8.4,138,924,0.68,0.00,8.70,0.699,10246,0.031,0.000,2970,2135,1746,1746,4094,0,0,0,0,0,0,25.99,25.62,24.80,10.13,47.83
$GC,957,2.00,632.6,2969,2134,1745,4094,12.2,10.7,145,963,0.00,1.12,0.00,0.000,516,0.000,0.045,2970,1710,1745,1745,4094,0,0,0,0,0,0,26.13,25.82,26.13,10.12,49.33
$GC,1021,2.00,632.6,2969,1709,1743,4094,4.9,11.4,155,1027,0.00,1.05,0.00,0.000,1030,0.000,0.030,2971,2138,1743,1743,4095,0,0,0,0,0,0,25.97,25.94,26.01,10.15,51.14
$STATE,1045,end climb,FINISH_DEPTH_REACHED
$STATE,1045,begin subsurface finish
$FINISH1,1.7,1.023775,127
$GC,1054,0.19,127.2,2970,2137,1742,4094,1.7,11.5,159,1073,5.90,0.00,-5.38,0.000,20486,0.034,0.000,2405,2138,2341,2341,4094,0,0,0,0,0,0,26.03,24.85,26.05,10.15,52.40
$FINISH2,0.1
$STATE,1074,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1074,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,015657
$TT8_MAMPS,0.026215,0.161035
$HUMID,52.40
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.80,35.052
$10V_AH,10.28,36.367
$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,35.750,11.325,64.900,0.000,0.000,59.264,28.630,265.194,0.000,0.000,18.413,422.982,283.631,164.379,577.077,238.777,0.000,351.980,0.000,245.844,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1260.720,1309.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,10876,162
$CAP_FILE_SIZE,34715,0
$CFSIZE,1024409600,958103552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,251.63,0x2138e4,0,24
$GPS,180817,031326,6205.122,-17427.635,9,0.8,17,6.8,0.5,56.1,10,4.7