version: 66.13
glider: 401
mission: 22
dive: 1160
start: 8 16 117 15 1 5
data:
$ID,401
$MISSION,22
$DIVE,1160
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,160817,144032,6157.2856,-17417.1230,7,0.8,19,6.8,0.3,190.2,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.0
$GPS2,160817,144032,6157.2856,-17417.1230,7,0.8,19,6.8,0.3,190.2,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W13N
$TGT_LATLONG,6211.700,-17441.039
$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,315.5,33757,-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,-487.5,2402,1959,2344,4092,0.0,0.0,0,29,6.53,0.00,-6.68,0.000,20486,0.027,0.000,1769,1960,3053,3053,4095,0,0,0,0,0,0,26.14,25.52,26.17,10.30,52.95
$GC,33,-1.78,-487.5,1769,1959,3053,4095,0.3,-3.5,2,42,0.00,1.12,0.00,0.000,516,0.000,0.054,1768,1519,3054,3054,4095,0,0,0,0,0,0,26.23,25.94,26.24,10.45,53.03
$GC,98,-1.78,-487.5,1768,1518,3055,4095,10.2,-17.3,11,108,0.00,1.02,0.00,0.000,1030,0.000,0.029,1769,1941,3056,3056,4094,0,0,0,0,0,0,26.10,26.07,26.11,10.46,52.83
$GC,145,-1.78,-487.5,1768,1941,3057,4094,18.9,-18.7,17,154,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1941,3058,3058,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.46,53.34
$GC,193,-1.78,-487.5,1768,1941,3058,4094,26.0,-13.8,23,201,0.00,1.15,0.00,0.000,260,0.000,0.047,1769,2379,3058,3058,4094,0,0,0,0,0,0,26.38,26.09,26.39,10.41,52.24
$GC,252,-1.78,-487.5,1768,2379,3060,4094,33.5,-12.2,31,261,0.00,1.08,0.00,0.000,1030,0.000,0.031,1769,1946,3060,3060,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.38,50.63
$GC,300,-1.78,-487.5,1768,1947,3061,4094,39.2,-12.3,37,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1946,3061,3061,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.37,49.21
$GC,347,-1.78,-487.5,1768,1946,3062,4095,45.4,-13.3,43,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1947,3062,3062,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.35,48.46
$GC,394,-1.78,-487.5,1768,1946,3063,4095,51.4,-12.5,49,404,0.00,1.08,0.00,0.000,516,0.000,0.052,1769,1522,3064,3064,4095,0,0,0,0,0,0,26.49,26.17,26.50,10.34,47.99
$GC,443,-1.78,-487.5,1768,1522,3064,4095,57.6,-13.1,55,452,0.00,1.02,0.00,0.000,1030,0.000,0.026,1769,1958,3064,3064,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.33,47.63
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,460,begin apogee
$GC,468,-0.45,0.0,1768,2139,3065,4094,60.5,-13.2,57,504,4.47,0.00,28.25,1.317,10244,0.055,0.000,2184,2139,2483,2483,4094,0,0,0,0,0,0,26.22,25.32,24.25,10.32,47.28
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,508,1.78,487.5,2184,2139,2483,4094,63.5,0.0,61,553,7.57,0.00,28.02,1.285,11270,0.033,0.000,2891,2138,1916,1916,4094,0,0,0,0,0,0,25.58,25.73,23.83,10.20,46.41
$GC,592,1.78,487.5,2890,2138,1915,4094,56.7,12.9,71,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2139,1915,1915,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.07,45.43
$GC,640,1.78,487.5,2891,2138,1914,4094,50.4,13.5,77,649,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1719,1914,1914,4094,0,0,0,0,0,0,25.77,25.48,25.78,10.06,46.37
$GC,720,1.78,487.5,2891,1719,1912,4094,39.3,13.4,88,730,0.00,0.98,0.00,0.000,1030,0.000,0.031,2892,2113,1911,1911,4094,0,0,0,0,0,0,25.74,25.70,25.77,10.06,46.45
$GC,769,1.78,487.5,2891,2113,1910,4094,32.9,13.1,94,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2113,1910,1910,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.05,46.96
$GC,816,1.78,487.5,2891,2113,1908,4094,26.8,12.7,100,826,0.00,1.05,0.00,0.000,516,0.000,0.046,2892,1717,1908,1908,4094,0,0,0,0,0,0,26.11,25.82,26.13,10.05,47.36
$GC,869,1.78,487.5,2891,1717,1907,4094,20.3,11.2,107,879,0.00,0.95,0.00,0.000,1030,0.000,0.028,2892,2108,1907,1907,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.06,47.20
$GC,917,2.06,673.2,2891,2107,1906,4094,16.5,7.8,113,935,0.85,0.00,10.82,0.731,10502,0.029,0.000,2981,2108,1698,1698,4094,0,0,0,0,0,0,26.02,25.38,24.85,10.11,48.85
$GC,974,2.06,673.2,2980,2107,1697,4094,10.7,11.0,120,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2108,1697,1697,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.10,50.47
$GC,1021,2.06,673.2,2980,2107,1695,4094,5.1,11.8,126,1031,0.00,1.02,0.00,0.000,516,0.000,0.047,2981,1720,1695,1695,4094,0,0,0,0,0,0,26.18,25.89,26.20,10.12,51.14
$STATE,1045,end climb,FINISH_DEPTH_REACHED
$STATE,1045,begin subsurface finish
$FINISH1,1.5,1.023825,124
$GC,1055,0.19,123.7,2981,2142,1693,4094,1.5,12.5,129,1075,6.00,1.17,-6.00,0.000,20996,0.024,1.274,2402,1713,2343,2343,4094,0,0,0,0,0,0,26.00,24.58,26.04,10.12,52.12
$FINISH2,0.1
$STATE,1076,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,143214
$TT8_MAMPS,0.025466,0.260652
$HUMID,52.40
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.83,32.427
$10V_AH,10.13,34.247
$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,25.425,14.750,67.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.363,0.384,129.317,549.094,77.390,0.000,371.586,0.000,320.564,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1273.725,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.072,355.937,281.661,417.902,545.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,10885,131
$CAP_FILE_SIZE,27383,0
$CFSIZE,1024409600,962494464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,144032,6157.286,-17417.123,7,0.8,19,6.8,0.3,190.2,10,4.9