version: 66.13
glider: 401
mission: 22
dive: 1452
start: 8 21 117 14 17 42
data:
$ID,401
$MISSION,22
$DIVE,1452
$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,34
$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
$GPS1,210817,133646,6138.8096,-17354.3203,7,0.8,24,7.0,0.7,223.2,9,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.4
$GPS2,210817,133646,6138.8096,-17354.3203,7,0.8,24,7.0,0.7,223.2,9,3.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,154.0,27708,-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,-487.5,2400,1935,2356,4092,0.0,0.0,0,21,6.30,0.00,-2.85,0.000,20482,0.022,0.000,1787,1935,2666,2666,4095,0,0,0,0,0,0,26.14,28.83,26.19,10.31,54.17
$GC,26,-1.78,-487.5,1787,1935,2666,4095,0.1,0.0,1,36,0.00,1.23,-3.40,0.000,16644,0.000,1.256,1787,2380,3056,3056,4095,0,0,0,0,0,0,26.38,24.55,26.39,10.38,53.74
$GC,140,-1.78,-487.5,1787,2379,3059,4095,16.2,-17.6,17,150,0.00,1.05,0.00,0.000,1030,0.000,0.031,1787,1961,3060,3060,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.47,53.70
$GC,189,-1.78,-487.5,1787,1961,3061,4094,24.6,-17.1,23,198,0.00,1.10,0.00,0.000,516,0.000,0.049,1787,1524,3061,3061,4094,0,0,0,0,0,0,26.40,26.06,26.41,10.46,53.62
$GC,248,-1.78,-487.5,1787,1524,3062,4094,33.2,-13.2,31,258,0.00,1.00,0.00,0.000,1030,0.000,0.027,1787,1949,3063,3063,4094,0,0,0,0,0,0,26.20,26.19,26.23,10.40,52.75
$GC,297,-1.78,-487.5,1787,1949,3063,4094,39.1,-11.9,37,307,0.00,1.12,0.00,0.000,260,0.000,0.047,1787,2379,3064,3064,4094,0,0,0,0,0,0,26.46,26.13,26.47,10.38,51.37
$GC,346,-1.78,-487.5,1787,2379,3064,4094,45.0,-12.1,43,356,0.00,1.08,0.00,0.000,1030,0.000,0.032,1787,1947,3065,3065,4095,0,0,0,0,0,0,26.27,26.18,26.25,10.37,50.39
$GC,395,-1.78,-487.5,1787,1947,3066,4095,50.7,-11.9,49,405,0.00,1.08,0.00,0.000,516,0.000,0.054,1787,1523,3066,3066,4094,0,0,0,0,0,0,26.51,26.15,26.52,10.36,49.09
$GC,462,-1.78,-487.5,1787,1522,3067,4094,59.3,-12.9,58,471,0.00,1.00,0.00,0.000,1030,0.000,0.028,1787,1950,3067,3067,4094,0,0,0,0,0,0,26.32,26.29,26.33,10.34,48.11
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,488,-0.45,0.0,1787,2140,3068,4095,62.0,-13.0,60,524,4.28,0.00,28.40,1.328,10244,0.054,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.21,25.31,24.27,10.34,48.07
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,525,begin climb
$GC,529,1.78,487.5,2185,2140,2483,4094,65.1,0.0,64,574,7.55,0.00,28.05,1.296,11270,0.031,0.000,2892,2140,1915,1915,4094,0,0,0,0,0,0,25.58,25.74,23.87,10.21,47.24
$GC,614,1.78,487.5,2891,2140,1914,4094,58.2,12.8,74,623,0.00,1.15,0.00,0.000,516,0.000,0.046,2892,1713,1914,1914,4094,0,0,0,0,0,0,25.59,25.30,25.60,10.08,46.37
$GC,720,1.78,487.5,2892,1713,1911,4094,43.7,13.6,89,729,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2124,1911,1911,4094,0,0,0,0,0,0,25.69,25.66,25.72,10.06,46.61
$GC,767,1.78,487.5,2892,2123,1909,4094,37.2,13.5,95,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,1910,1910,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.06,46.77
$GC,814,1.78,487.5,2892,2123,1908,4094,31.1,12.7,101,823,0.00,1.10,0.00,0.000,516,0.000,0.046,2893,1710,1908,1908,4095,0,0,0,0,0,0,26.09,25.76,26.10,10.06,47.24
$GC,880,1.78,487.5,2892,1710,1907,4095,23.2,11.9,110,889,0.00,1.00,0.00,0.000,1030,0.000,0.031,2893,2118,1906,1906,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.08,48.11
$GC,927,1.90,566.0,2892,2118,1906,4094,18.9,9.4,116,937,0.32,0.00,5.53,0.589,10246,0.040,0.000,2932,2118,1823,1823,4094,0,0,0,0,0,0,26.01,25.63,24.76,10.13,49.92
$GC,977,1.93,586.8,2931,2118,1821,4094,14.1,10.2,122,987,0.00,1.08,2.95,0.288,8708,0.000,0.044,2932,1711,1797,1797,4094,0,0,0,0,0,0,26.22,25.37,24.80,10.14,51.29
$GC,1064,1.93,589.9,2931,1710,1795,4094,4.1,10.5,134,1073,0.00,0.98,0.00,0.000,1030,0.000,0.031,2931,2110,1795,1795,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.15,53.11
$STATE,1081,end climb,SURFACE_DEPTH_REACHED
$STATE,1081,begin surface coast
$FINISH,0.2,1.015272
$STATE,1104,end surface coast,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$SM_CCo,1209,0.00,0.000,0,0,1794,593.29
$SM_GC,1.14,28.27,0.40,0.00,0.021,0.044,0.000,230,1940,1794,-6.59,1.55,593.29,0,0,0,0,0,0,25.95,26.08,26.06
$IRIDIUM_FIX,6149.06,-17422.35,210817,121919
$TT8_MAMPS,0.025466,0.236684
$HUMID,53.11
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.87,41.095
$10V_AH,10.14,41.231
$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,46.725,16.375,64.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,406.291,60.471,135.601,580.737,92.490,0.000,356.645,0.000,338.868,0.000,0.540,0.000
$DEVICE_MAMPS,53.550,1256.130,1328.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.248,377.675,298.944,443.539,578.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,14283,139
$CAP_FILE_SIZE,28846,0
$CFSIZE,1024409600,948142080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,143845,6138.358,-17354.363,4,0.7,13,7.0,0.0,89.0,11,5.0