version: 66.13
glider: 401
mission: 22
dive: 1096
start: 8 15 117 12 58 56
data:
$ID,401
$MISSION,22
$DIVE,1096
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,64
$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
$GPS1,150817,125015,6148.6553,-17357.1836,5,0.8,16,7.0,0.0,269.1,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-41.8
$GPS2,150817,125747,6148.6562,-17357.1621,7,0.8,17,7.0,0.0,0.0,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.340118,0.206250
$KALMAN_X,63053.050781,-677.305481,-313.651947,-262462.031250,77.200531
$KALMAN_Y,-72256.062500,3286.582520,1179.881470,351767.562500,-39.958618
$MHEAD_RNG_PITCHd_Wd,294.2,26028,-11.4,-10.526,-14.82,7087
$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,9,-1.77,-487.5,239,1962,1752,4092,0.0,0.0,0,21,9.27,0.00,0.00,0.000,2049,0.091,0.000,1029,1960,1752,1752,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.21,52.91
$GC,24,-1.77,-487.5,1028,1960,1752,4094,0.7,0.0,1,52,7.93,1.05,-12.02,0.000,18692,0.044,1.267,1766,2340,3051,3051,4095,0,0,0,0,0,0,25.96,24.61,26.03,10.21,52.08
$GC,128,-1.77,-487.5,1766,2340,3053,4095,11.2,-16.8,15,137,0.00,1.00,0.00,0.000,1030,0.000,0.028,1766,1945,3053,3053,4094,0,0,0,0,0,0,26.01,25.99,26.05,10.49,51.96
$GC,175,-1.77,-487.5,1766,1945,3055,4094,19.7,-18.1,21,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1946,3055,3055,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.50,50.90
$GC,221,-1.77,-487.5,1766,1945,3056,4094,27.1,-14.3,27,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1945,3056,3056,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.44,50.43
$GC,267,-1.77,-487.5,1765,1945,3057,4094,32.4,-11.6,33,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1945,3057,3057,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.41,49.68
$GC,313,-1.77,-487.5,1766,1945,3058,4095,38.1,-12.3,39,322,0.00,1.08,0.00,0.000,516,0.000,0.050,1766,1520,3058,3058,4095,0,0,0,0,0,0,26.38,26.07,26.39,10.38,47.75
$GC,366,-1.77,-487.5,1766,1520,3060,4095,45.0,-13.3,46,375,0.00,0.93,0.00,0.000,1030,0.000,0.027,1767,1922,3060,3060,4095,0,0,0,0,0,0,26.20,26.19,26.23,10.38,46.65
$GC,414,-1.77,-487.5,1766,1923,3060,4095,51.3,-13.5,52,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1922,3061,3061,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.37,46.77
$GC,461,-1.77,-487.5,1766,1922,3062,4095,57.5,-12.8,58,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1922,3062,3062,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.36,45.86
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,486,-0.45,0.0,1766,2134,3063,4094,60.3,-12.8,60,522,4.50,0.00,28.15,1.313,10244,0.057,0.000,2184,2134,2484,2484,4094,0,0,0,0,0,0,26.17,25.29,24.23,10.36,45.78
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,526,1.77,487.5,2184,2134,2484,4094,63.3,0.0,64,571,7.53,0.00,27.98,1.282,11270,0.032,0.000,2890,2134,1917,1917,4094,0,0,0,0,0,0,25.56,25.71,23.83,10.23,45.98
$GC,610,1.77,487.5,2888,2135,1915,4094,56.8,12.5,74,619,0.00,1.15,0.00,0.000,260,0.000,0.052,2890,2556,1915,1915,4094,0,0,0,0,0,0,25.59,25.29,25.60,10.09,44.29
$GC,643,1.77,487.5,2889,2556,1914,4094,52.1,13.5,78,653,0.00,1.10,0.03,0.008,9222,0.000,0.026,2890,2119,1914,1914,4094,0,0,0,0,0,0,25.53,25.50,25.56,10.09,44.76
$GC,690,1.77,487.5,2889,2119,1913,4094,46.1,12.3,84,700,0.00,1.05,0.00,0.000,516,0.000,0.047,2890,1717,1913,1913,4094,0,0,0,0,0,0,25.86,25.56,25.87,10.08,44.84
$GC,776,1.77,487.5,2889,1717,1910,4094,35.0,12.9,96,786,0.00,0.95,0.00,0.000,1030,0.000,0.029,2890,2106,1910,1910,4095,0,0,0,0,0,0,25.82,25.79,25.83,10.07,45.43
$GC,823,1.77,487.5,2889,2106,1909,4095,28.9,12.9,102,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2106,1908,1908,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.07,45.82
$GC,870,1.77,487.5,2889,2105,1907,4094,23.0,13.0,108,880,0.00,1.02,0.00,0.000,516,0.000,0.045,2890,1713,1907,1907,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.07,46.18
$GC,923,1.92,588.7,2889,1713,1906,4094,17.9,9.1,115,935,0.45,0.93,6.62,0.638,11270,0.035,0.028,2939,2101,1796,1796,4094,0,0,0,0,0,0,26.00,25.98,24.90,10.13,48.93
$GC,974,1.92,588.7,2939,2101,1795,4094,12.9,10.5,121,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2101,1795,1795,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.13,50.00
$GC,1021,1.93,598.6,2938,2101,1794,4094,7.8,10.4,127,1030,0.00,0.00,2.28,0.119,8198,0.000,0.000,2939,2101,1785,1785,4094,0,0,0,0,0,0,26.23,25.56,25.06,10.15,50.90
$GC,1071,1.93,598.6,2939,2100,1784,4094,2.1,10.9,133,1080,0.00,1.02,0.00,0.000,516,0.000,0.048,2939,1713,1783,1783,4095,0,0,0,0,0,0,26.27,25.97,26.28,10.16,51.49
$STATE,1088,end climb,FINISH_DEPTH_REACHED
$STATE,1088,begin subsurface finish
$FINISH1,0.1,1.023928,117
$GC,1098,0.17,116.5,2939,2140,1783,4094,0.1,10.5,135,1116,5.45,1.15,-5.15,0.000,20996,0.023,1.277,2408,1713,2351,2351,4094,0,0,0,0,0,0,26.08,24.68,26.13,10.16,52.20
$FINISH2,0.1
$STATE,1117,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,114445
$TT8_MAMPS,0.025466,0.258405
$HUMID,52.08
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.83,30.519
$10V_AH,10.12,32.731
$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,35.125,14.075,65.050,0.000,0.000,23.980,18.285,229.055,0.000,0.000,18.789,398.053,0.000,134.588,844.118,209.386,33.456,390.295,0.000,337.064,0.000,0.542,0.000
$DEVICE_MAMPS,91.035,1276.785,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.140,372.230,294.552,436.813,570.984,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,14292,137
$CAP_FILE_SIZE,33965,0
$CFSIZE,1024409600,965623808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1028.72,0x2138dc,1,24
$GPS,150817,125747,6148.656,-17357.162,7,0.8,17,7.0,0.0,0.0,11,5.0