version: 66.13
glider: 401
mission: 22
dive: 1376
start: 8 20 117 6 45 26
data:
$ID,401
$MISSION,22
$DIVE,1376
$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,31
$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
$GPS1,200817,062405,6151.8574,-17400.7637,9,0.8,23,7.0,0.5,27.6,11,5.0
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-1.7
$GPS2,200817,062405,6151.8574,-17400.7637,9,0.8,23,7.0,0.5,27.6,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,144.4,17368,-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,10,-1.78,-487.5,2404,1947,2340,4092,0.0,0.0,0,21,6.53,0.00,-2.25,0.000,20482,0.021,0.000,1776,1947,2588,2588,4094,0,0,0,0,0,0,26.01,28.83,26.07,10.32,52.59
$GC,26,-1.78,-487.5,1776,1947,2588,4094,0.3,0.0,1,36,0.00,1.10,-4.15,0.000,16900,0.000,1.263,1776,1528,3056,3056,4095,0,0,0,0,0,0,26.27,24.49,26.27,10.38,52.44
$GC,119,-1.78,-487.5,1775,1528,3059,4095,13.5,-17.8,14,127,0.00,1.00,0.00,0.000,1030,0.000,0.028,1776,1948,3059,3059,4094,0,0,0,0,0,0,26.08,26.03,26.08,10.48,52.48
$GC,167,-1.78,-487.5,1775,1948,3060,4094,22.0,-18.7,20,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1948,3061,3061,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.49,51.85
$GC,215,-1.78,-487.5,1775,1948,3062,4095,29.1,-13.0,26,224,0.00,1.10,0.00,0.000,260,0.000,0.045,1776,2368,3062,3062,4095,0,0,0,0,0,0,26.36,26.02,26.37,10.43,52.04
$GC,321,-1.78,-487.5,1775,2368,3064,4095,42.0,-11.7,41,329,0.00,1.08,0.00,0.000,1030,0.000,0.031,1776,1936,3064,3064,4094,0,0,0,0,0,0,26.24,26.14,26.20,10.38,48.97
$GC,367,-1.78,-487.5,1775,1936,3065,4094,47.4,-12.1,47,376,0.00,1.05,0.00,0.000,516,0.000,0.052,1776,1521,3066,3066,4095,0,0,0,0,0,0,26.46,26.13,26.47,10.37,48.30
$GC,439,-1.78,-487.5,1775,1521,3067,4095,56.4,-12.7,57,448,0.00,0.98,0.00,0.000,1030,0.000,0.027,1775,1942,3067,3067,4095,0,0,0,0,0,0,26.27,26.25,26.30,10.35,47.00
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,480,-0.45,0.0,1775,2135,3067,4095,60.7,-13.0,61,516,4.43,0.00,28.30,1.307,10244,0.056,0.000,2186,2135,2485,2485,4094,0,0,0,0,0,0,26.18,25.30,24.25,10.35,46.61
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,521,1.78,487.5,2186,2134,2484,4094,64.1,0.0,65,565,7.55,0.00,28.08,1.280,11270,0.031,0.000,2892,2135,1916,1916,4094,0,0,0,0,0,0,25.57,25.72,23.87,10.22,46.88
$GC,604,1.78,487.5,2892,2135,1915,4094,57.7,12.5,75,612,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1714,1915,1915,4094,0,0,0,0,0,0,25.58,25.29,25.60,10.09,45.51
$GC,741,1.78,487.5,2892,1714,1911,4094,39.8,12.4,95,751,0.00,1.00,0.00,0.000,1030,0.000,0.028,2893,2122,1911,1911,4094,0,0,0,0,0,0,25.75,25.74,25.79,10.07,46.65
$GC,789,1.78,487.5,2892,2121,1910,4094,34.1,11.8,101,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2121,1909,1909,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.07,46.37
$GC,837,1.78,487.5,2892,2121,1908,4094,28.7,11.3,107,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2122,1908,1908,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.07,46.77
$GC,885,1.78,487.5,2892,2121,1907,4094,22.9,12.3,113,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2121,1907,1907,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.08,47.12
$GC,933,2.00,633.0,2892,2121,1906,4094,18.7,8.4,119,951,0.62,0.00,8.80,0.704,10246,0.031,0.000,2962,2122,1745,1745,4094,0,0,0,0,0,0,26.03,25.33,24.80,10.13,48.81
$GC,991,2.02,646.8,2962,2121,1745,4094,13.1,10.3,126,1000,0.00,1.02,2.65,0.228,8708,0.000,0.044,2962,1714,1727,1727,4094,0,0,0,0,0,0,26.18,25.41,24.84,10.13,50.98
$STATE,1086,end climb,FINISH_DEPTH_REACHED
$STATE,1086,begin subsurface finish
$FINISH1,1.8,1.023804,125
$GC,1098,0.19,125.2,2962,2144,1723,4094,1.8,10.6,140,1116,5.80,0.00,-5.43,0.000,20486,0.024,0.000,2404,2144,2343,2343,4094,0,0,0,0,0,0,26.05,25.44,26.09,10.15,52.20
$FINISH2,0.2
$STATE,1117,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,061322
$TT8_MAMPS,0.025466,0.253911
$HUMID,53.18
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.87,38.789
$10V_AH,10.15,39.402
$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,24.925,11.475,67.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,399.357,0.000,111.024,589.802,76.555,0.000,331.105,0.000,345.611,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1263.015,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.402,385.799,305.366,452.886,587.639,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,14310,142
$CAP_FILE_SIZE,25495,0
$CFSIZE,1024409600,951877632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,062405,6151.857,-17400.764,9,0.8,23,7.0,0.5,27.6,11,5.0