version: 66.13
glider: 401
mission: 22
dive: 1455
start: 8 21 117 15 28 35
data:
$ID,401
$MISSION,22
$DIVE,1455
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,210817,144747,6138.3789,-17354.3965,7,0.7,17,7.0,0.4,160.8,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-3.5
$GPS2,210817,144747,6138.3789,-17354.3965,7,0.7,17,7.0,0.4,160.8,11,4.8
$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,153.4,26978,-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,-487.5,2395,1953,2357,4092,0.0,0.0,0,18,5.75,0.00,0.00,0.000,4097,0.025,0.000,1838,1953,2357,2357,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.32,52.83
$GC,22,-1.78,-487.5,1838,1953,2357,4094,0.1,0.0,1,36,0.45,1.23,-6.47,0.000,20740,0.034,1.248,1788,2385,3055,3055,4094,0,0,0,0,0,0,26.06,24.39,26.09,10.32,52.75
$GC,185,-1.78,-487.5,1787,2385,3058,4094,22.9,-17.2,27,191,0.00,1.10,0.00,0.000,1030,0.000,0.031,1787,1946,3059,3059,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.48,53.34
$GC,225,-1.78,-487.5,1787,1946,3060,4095,29.1,-14.5,33,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1946,3061,3061,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.44,52.67
$GC,264,-1.78,-487.5,1787,1946,3062,4094,34.2,-12.4,39,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1946,3062,3062,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.41,51.89
$GC,303,-1.78,-487.5,1787,1946,3062,4094,39.1,-12.8,45,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1946,3062,3062,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.39,50.78
$GC,343,-1.78,-487.5,1786,1946,3063,4095,43.8,-11.8,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1946,3063,3063,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.38,49.76
$GC,382,-1.78,-487.5,1787,1946,3064,4094,48.5,-11.9,57,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1946,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.37,49.09
$GC,421,-1.78,-487.5,1787,1946,3064,4095,53.3,-11.8,63,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1946,3066,3066,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.36,48.58
$GC,460,-1.78,-487.5,1787,1946,3066,4094,58.1,-12.6,69,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1946,3067,3067,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.35,48.07
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,487,-0.45,0.0,1787,2149,3067,4095,60.7,-12.2,72,523,4.28,0.00,28.25,1.310,10244,0.054,0.000,2185,2149,2484,2484,4094,0,0,0,0,0,0,26.18,25.31,24.25,10.35,48.14
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,528,1.78,487.5,2185,2149,2484,4094,63.6,0.0,78,570,7.53,0.00,27.83,1.282,11270,0.031,0.000,2891,2149,1916,1916,4094,0,0,0,0,0,0,25.58,25.73,23.87,10.21,47.79
$GC,604,1.78,487.5,2890,2149,1916,4094,57.4,12.8,90,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2149,1916,1916,4094,0,0,0,0,0,0,25.54,25.56,25.55,10.09,46.33
$GC,643,1.78,487.5,2890,2149,1915,4094,52.1,13.4,96,650,0.00,1.15,0.00,0.000,516,0.000,0.044,2890,1717,1914,1914,4094,0,0,0,0,0,0,25.72,25.41,25.72,10.08,46.02
$GC,725,1.78,487.5,2890,1717,1912,4094,40.8,13.7,109,732,0.00,1.02,0.00,0.000,1030,0.000,0.030,2891,2129,1912,1912,4094,0,0,0,0,0,0,25.71,25.67,25.73,10.07,46.53
$GC,765,1.78,487.5,2891,2128,1911,4094,35.4,13.5,115,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1911,1911,4095,0,0,0,0,0,0,26.02,26.03,26.03,10.07,47.04
$GC,805,1.78,487.5,2890,2128,1909,4095,30.2,13.4,121,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1909,1909,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.07,47.59
$GC,844,1.78,487.5,2890,2128,1908,4094,25.5,11.5,127,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1908,1908,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.08,48.07
$GC,884,1.89,559.5,2890,2128,1908,4094,21.6,9.5,133,897,0.30,1.10,5.32,0.600,10756,0.041,0.044,2929,1711,1830,1830,4094,0,0,0,0,0,0,25.96,25.53,24.69,10.12,48.66
$GC,979,1.89,559.5,2929,1711,1828,4094,11.5,11.5,148,985,0.00,1.00,0.00,0.000,1030,0.000,0.028,2929,2123,1828,1828,4095,0,0,0,0,0,0,26.00,25.96,26.01,10.15,52.67
$GC,1019,1.89,559.5,2929,2122,1827,4095,6.9,12.0,154,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2123,1827,1827,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.16,52.28
$GC,1058,1.89,559.5,2929,2122,1826,4095,2.7,10.8,160,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2123,1826,1826,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.17,52.75
$STATE,1069,end climb,SURFACE_DEPTH_REACHED
$STATE,1069,begin surface coast
$FINISH,0.2,1.010007
$STATE,1083,end surface coast,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$SM_CCo,1186,0.00,0.000,0,0,1825,566.68
$SM_GC,0.98,28.20,0.45,0.00,0.020,0.041,0.000,230,1937,1825,-6.59,1.28,566.68,0,0,0,0,0,0,25.96,26.07,26.06
$IRIDIUM_FIX,6149.06,-17422.35,210817,133112
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.89
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.87,41.180
$10V_AH,10.37,41.290
$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,46.500,9.175,61.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.057,316.620,168.601,238.064,98.813,0.000,346.523,0.000,246.978,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1248.480,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10843,164
$CAP_FILE_SIZE,29732,0
$CFSIZE,1024409600,947994624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,154954,6138.017,-17354.082,5,1.0,53,7.0,0.3,102.5,8,7.4