version: 66.13
glider: 401
mission: 22
dive: 1156
start: 8 16 117 13 25 56
data:
$ID,401
$MISSION,22
$DIVE,1156
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,160817,131734,6157.3364,-17415.9668,7,1.0,52,6.8,0.4,254.1,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-38.0
$GPS2,160817,132521,6157.3252,-17415.9453,7,0.7,17,6.8,0.0,160.3,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$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,248.2,5317,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,238,1974,1743,4092,0.0,0.0,0,21,9.02,0.00,0.00,0.000,2049,0.096,0.000,1001,1969,1743,1743,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.21,51.96
$GC,24,-1.78,-487.5,1000,1974,1743,4094,0.7,0.0,1,52,8.23,0.00,-12.68,0.000,18694,0.044,0.000,1763,1974,3053,3053,4094,0,0,0,0,0,0,25.91,25.38,25.98,10.22,51.73
$GC,90,-1.78,-487.5,1763,1974,3054,4094,2.9,-11.4,9,100,0.00,1.02,0.00,0.000,260,0.000,0.042,1764,2363,3054,3054,4095,0,0,0,0,0,0,26.15,25.86,26.16,10.50,52.28
$GC,176,-1.78,-487.5,1763,2363,3057,4095,18.8,-18.6,21,184,0.00,1.02,0.00,0.000,1030,0.000,0.028,1764,1959,3057,3057,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.50,50.74
$GC,222,-1.78,-487.5,1764,1958,3058,4095,26.4,-15.4,27,230,0.00,1.12,0.00,0.000,516,0.000,0.049,1764,1516,3059,3059,4094,0,0,0,0,0,0,26.29,25.97,26.30,10.45,50.63
$GC,268,-1.78,-487.5,1763,1516,3060,4094,32.6,-13.5,33,277,0.00,1.02,0.00,0.000,1030,0.000,0.026,1764,1952,3060,3060,4095,0,0,0,0,0,0,26.12,26.11,26.13,10.42,49.13
$GC,316,-1.78,-487.5,1763,1952,3061,4095,38.8,-13.0,39,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3061,3061,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.40,48.22
$GC,364,-1.78,-487.5,1763,1952,3062,4095,44.9,-12.5,45,373,0.00,1.10,0.00,0.000,260,0.000,0.045,1764,2370,3062,3062,4095,0,0,0,0,0,0,26.39,26.09,26.41,10.38,47.20
$GC,417,-1.78,-487.5,1763,2370,3063,4095,52.2,-13.1,52,426,0.00,1.05,0.00,0.000,1030,0.000,0.028,1764,1951,3063,3063,4095,0,0,0,0,0,0,26.20,26.16,26.21,10.37,46.73
$GC,464,-1.78,-487.5,1763,1951,3064,4095,58.2,-12.9,58,472,0.00,1.08,0.00,0.000,516,0.000,0.050,1764,1520,3064,3064,4095,0,0,0,0,0,0,26.45,26.14,26.46,10.37,45.74
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,490,-0.45,0.0,1764,2128,3065,4095,60.8,-13.2,60,526,4.53,0.00,28.33,1.320,10244,0.057,0.000,2184,2128,2484,2484,4095,0,0,0,0,0,0,26.15,25.26,24.18,10.36,45.70
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,530,1.78,487.5,2184,2128,2485,4095,64.2,0.0,64,576,7.47,1.17,28.17,1.291,10500,0.031,0.051,2891,2563,1915,1915,4095,0,0,0,0,0,0,25.46,25.41,23.80,10.23,45.03
$GC,607,1.78,487.5,2890,2563,1914,4095,58.0,12.7,73,616,0.00,1.10,0.00,0.000,1030,0.000,0.026,2891,2131,1914,1914,4094,0,0,0,0,0,0,25.34,25.29,25.36,10.10,44.32
$GC,654,1.78,487.5,2890,2131,1913,4094,51.7,13.5,79,663,0.00,1.08,0.00,0.000,516,0.000,0.047,2891,1720,1913,1913,4094,0,0,0,0,0,0,25.72,25.44,25.73,10.09,44.76
$GC,759,1.78,487.5,2890,1720,1909,4094,37.8,13.4,94,769,0.00,1.00,0.00,0.000,1030,0.000,0.030,2891,2126,1910,1910,4094,0,0,0,0,0,0,25.76,25.74,25.77,10.08,45.19
$GC,806,1.78,487.5,2890,2125,1908,4094,31.6,13.0,100,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2126,1908,1908,4094,0,0,0,0,0,0,26.06,26.06,26.06,10.07,46.25
$GC,854,1.78,487.5,2890,2126,1907,4094,25.9,11.9,106,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2126,1906,1906,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.07,46.37
$GC,901,1.78,487.5,2890,2125,1905,4094,20.3,11.6,112,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2126,1905,1905,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.10,46.53
$GC,949,1.88,557.6,2890,2126,1904,4094,15.9,9.5,118,960,0.28,1.08,5.00,0.538,10756,0.045,0.045,2926,1718,1833,1833,4094,0,0,0,0,0,0,26.01,25.77,24.92,10.14,48.66
$GC,1072,1.92,583.1,2925,1717,1830,4094,3.3,10.1,135,1082,0.00,0.95,3.00,0.264,9222,0.000,0.027,2926,2118,1803,1803,4094,0,0,0,0,0,0,26.08,26.04,25.13,10.17,52.00
$STATE,1089,end climb,FINISH_DEPTH_REACHED
$STATE,1090,begin subsurface finish
$FINISH1,0.4,1.023817,124
$GC,1098,0.19,124.3,2925,2117,1803,4094,0.4,11.4,137,1117,5.47,0.00,-4.95,0.000,20486,0.031,0.000,2400,2118,2342,2342,4095,0,0,0,0,0,0,26.08,25.47,26.11,10.17,51.49
$FINISH2,0.2
$STATE,1118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,121106
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.81
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.80,32.309
$10V_AH,10.13,34.157
$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,35.000,15.325,64.500,0.000,0.000,26.393,17.450,241.832,0.000,0.000,18.577,400.555,0.000,127.264,859.433,213.654,0.000,373.765,0.000,341.601,0.000,0.544,0.000
$DEVICE_MAMPS,95.625,51.255,1319.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.735,377.629,298.849,443.145,578.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,14382,139
$CAP_FILE_SIZE,32371,0
$CFSIZE,1024409600,962691072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160817,132521,6157.325,-17415.945,7,0.7,17,6.8,0.0,160.3,11,5.0