version: 66.13
glider: 401
mission: 22
dive: 1124
start: 8 16 117 0 35 43
data:
$ID,401
$MISSION,22
$DIVE,1124
$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,16
$R_STBD_OVSHOOT,28
$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
$GPS1,160817,001045,6154.1216,-17406.3027,7,0.8,23,6.9,0.0,52.9,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.9
$GPS2,160817,001045,6154.1216,-17406.3027,7,0.8,23,6.9,0.0,52.9,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$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,281.7,14280,-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,-487.5,2404,1967,2345,4092,0.0,0.0,0,21,6.50,0.00,-2.85,0.000,20482,0.024,0.000,1774,1967,2646,2646,4094,0,0,0,0,0,0,26.06,28.83,26.11,10.31,54.52
$GC,25,-1.78,-487.5,1773,1967,2647,4094,0.1,0.0,1,35,0.00,1.12,-3.95,0.000,16644,0.000,1.267,1773,2378,3055,3055,4095,0,0,0,0,0,0,26.29,24.66,26.29,10.38,54.05
$GC,292,-1.78,-487.5,1772,2377,3060,4095,28.0,-9.3,40,302,0.00,1.10,0.00,0.000,1030,0.000,0.032,1773,1943,3060,3060,4095,0,0,0,0,0,0,26.20,26.16,26.22,10.41,53.07
$GC,340,-1.78,-487.5,1773,1943,3061,4095,33.1,-10.6,46,350,0.00,1.17,0.00,0.000,260,0.000,0.044,1773,2381,3061,3061,4095,0,0,0,0,0,0,26.45,26.13,26.46,10.39,51.49
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,597,-0.45,0.0,1773,2116,3066,4094,60.0,-10.5,83,640,4.43,0.00,28.30,1.305,10244,0.057,0.000,2185,2114,2484,2484,4094,0,0,0,0,0,0,26.26,25.37,24.30,10.34,48.26
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,645,1.78,487.5,2184,2114,2484,4094,63.8,0.0,88,690,7.50,0.98,28.08,1.290,10756,0.031,0.043,2895,1732,1915,1915,4094,0,0,0,0,0,0,25.60,25.58,23.87,10.21,47.00
$GC,938,1.78,487.5,2895,1732,1909,4094,34.3,12.0,130,948,0.00,1.00,0.00,0.000,1030,0.000,0.028,2895,2145,1908,1908,4094,0,0,0,0,0,0,25.90,25.86,25.92,10.06,47.59
$GC,986,1.78,487.5,2895,2145,1907,4094,29.1,10.9,136,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2145,1907,1907,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.06,48.11
$GC,1034,1.79,497.2,2895,2145,1907,4094,24.0,10.4,142,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2145,1907,1907,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.06,48.81
$GC,1082,2.03,656.1,2895,2145,1906,4094,19.8,8.2,148,1101,0.73,1.10,9.93,0.740,10500,0.031,0.049,2972,2558,1719,1719,4094,0,0,0,0,0,0,26.07,25.45,24.88,10.11,49.56
$STATE,1243,end climb,FINISH_DEPTH_REACHED
$STATE,1243,begin subsurface finish
$FINISH1,1.3,1.023844,122
$GC,1253,0.18,122.4,2972,2160,1714,4094,1.3,11.5,171,1271,5.93,0.00,-5.72,0.000,20486,0.028,0.000,2402,2159,2344,2344,4095,0,0,0,0,0,0,26.06,25.48,26.11,10.14,52.79
$FINISH2,0.1
$STATE,1272,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1272,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,000307
$TT8_MAMPS,0.025466,0.263648
$HUMID,54.09
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.87,31.383
$10V_AH,10.12,33.405
$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,25.075,9.725,66.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,459.248,0.991,90.787,721.645,59.483,0.000,301.335,0.000,418.162,0.000,0.541,0.000
$DEVICE_MAMPS,56.610,1266.840,1305.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.078,470.043,372.037,551.914,721.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,17779,173
$CAP_FILE_SIZE,21239,0
$CFSIZE,1024409600,964247552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,001045,6154.122,-17406.303,7,0.8,23,6.9,0.0,52.9,10,4.9