version: 66.13
glider: 401
mission: 22
dive: 1153
start: 8 16 117 12 16 45
data:
$ID,401
$MISSION,22
$DIVE,1153
$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,39
$R_STBD_OVSHOOT,53
$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
$GPS1,160817,120810,6157.1963,-17414.9941,8,1.2,17,6.9,0.2,104.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-33.3
$GPS2,160817,121610,6157.1895,-17414.9590,9,0.9,19,6.9,0.0,313.8,11,4.9
$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,252.4,6099,-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,6,begin dive
$GC,10,-1.78,-487.5,229,1973,1790,4092,0.0,0.0,0,18,6.30,0.00,0.00,0.000,2049,0.099,0.000,756,1972,1790,1790,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.22,51.77
$GC,22,-1.78,-487.5,755,1973,1790,4094,0.8,0.0,1,52,10.82,1.05,-12.18,0.000,18692,0.042,1.268,1764,2350,3054,3054,4095,0,0,0,0,0,0,25.92,24.51,25.98,10.22,51.29
$GC,154,-1.78,-487.5,1763,2351,3058,4095,15.7,-18.6,22,160,0.00,0.98,0.00,0.000,1030,0.000,0.028,1764,1967,3058,3058,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.50,50.98
$GC,193,-1.78,-487.5,1763,1967,3059,4094,23.5,-18.7,28,200,0.00,1.15,0.00,0.000,516,0.000,0.048,1764,1516,3059,3059,4094,0,0,0,0,0,0,26.26,25.94,26.27,10.47,50.63
$GC,233,-1.78,-487.5,1763,1516,3060,4094,28.9,-13.3,34,239,0.00,0.98,0.00,0.000,1030,0.000,0.026,1764,1934,3060,3060,4095,0,0,0,0,0,0,26.09,26.06,26.10,10.43,49.88
$GC,272,-1.78,-487.5,1763,1934,3061,4095,34.0,-13.0,40,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1935,3061,3061,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.41,49.25
$GC,311,-1.78,-487.5,1763,1935,3062,4095,38.8,-12.4,46,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1935,3061,3061,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.39,48.11
$GC,350,-1.78,-487.5,1763,1935,3063,4095,43.6,-12.4,52,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1935,3063,3063,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.38,47.44
$GC,388,-1.78,-487.5,1764,1935,3064,4094,48.6,-12.8,58,395,0.00,1.12,0.00,0.000,260,0.000,0.044,1764,2365,3064,3064,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.37,47.44
$GC,446,-1.78,-487.5,1764,2365,3065,4095,56.3,-13.5,67,452,0.00,1.08,0.00,0.000,1030,0.000,0.030,1764,1932,3066,3066,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.36,46.29
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,484,-0.45,0.0,1764,2135,3066,4094,60.7,-13.3,72,520,4.55,0.00,28.38,1.317,10244,0.055,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.15,25.25,24.19,10.35,46.88
$STATE,521,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,525,1.78,487.5,2185,2135,2484,4094,63.4,0.0,78,567,7.47,1.12,28.05,1.284,10500,0.031,0.051,2892,2555,1915,1915,4094,0,0,0,0,0,0,25.46,25.40,23.80,10.23,45.66
$GC,618,1.78,487.5,2891,2555,1914,4094,54.6,13.3,93,625,0.00,1.05,0.00,0.000,1030,0.000,0.025,2891,2137,1914,1914,4094,0,0,0,0,0,0,25.42,25.40,25.44,10.09,44.76
$GC,658,1.78,487.5,2891,2137,1913,4094,49.7,12.3,99,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2137,1913,1913,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.09,44.95
$GC,697,1.78,487.5,2891,2136,1912,4094,44.7,12.7,105,703,0.00,1.08,0.00,0.000,516,0.000,0.046,2891,1725,1912,1912,4094,0,0,0,0,0,0,25.86,25.56,25.86,10.08,45.11
$GC,814,1.78,487.5,2891,1724,1908,4094,29.8,12.1,124,821,0.00,0.98,0.00,0.000,1030,0.000,0.029,2891,2123,1908,1908,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.07,46.22
$GC,854,1.78,487.5,2891,2122,1907,4094,25.0,12.0,130,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1907,1907,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.07,46.57
$GC,893,1.84,527.1,2891,2122,1906,4094,20.9,9.9,136,900,0.10,0.00,3.55,0.431,10246,0.080,0.000,2907,2123,1869,1869,4094,0,0,0,0,0,0,25.96,25.68,24.83,10.10,46.96
$GC,933,2.08,690.6,2907,2122,1868,4094,17.7,8.1,142,947,0.77,0.00,10.10,0.726,10246,0.028,0.000,2988,2123,1678,1678,4094,0,0,0,0,0,0,25.98,25.59,24.80,10.12,48.97
$GC,980,2.08,690.6,2988,2122,1677,4094,12.9,10.7,149,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2123,1677,1677,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.11,50.90
$GC,1018,2.08,690.6,2988,2122,1677,4094,8.5,11.4,155,1025,0.00,1.08,0.00,0.000,516,0.000,0.044,2989,1716,1676,1676,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.12,51.73
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1067,begin subsurface finish
$FINISH1,1.7,1.023811,125
$GC,1077,0.19,124.7,2989,2146,1673,4094,1.7,13.1,163,1097,6.07,1.15,-6.07,0.000,20996,0.024,1.266,2400,1717,2344,2344,4095,0,0,0,0,0,0,26.00,24.58,26.02,10.13,52.87
$FINISH2,0.2
$STATE,1098,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1098,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,105846
$TT8_MAMPS,0.026215,0.159537
$HUMID,53.46
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.80,32.225
$10V_AH,10.28,34.078
$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,36.100,14.375,70.075,0.000,0.000,33.971,16.936,242.502,0.000,0.000,20.261,435.308,253.211,162.457,525.269,216.529,0.000,350.539,0.000,251.393,0.000,0.542,0.000
$DEVICE_MAMPS,99.450,1267.605,1317.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,10869,166
$CAP_FILE_SIZE,34360,0
$CFSIZE,1024409600,962822144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160817,121610,6157.189,-17414.959,9,0.9,19,6.9,0.0,313.8,11,4.9