version: 66.13
glider: 401
mission: 22
dive: 1273
start: 8 18 117 12 49 33
data:
$ID,401
$MISSION,22
$DIVE,1273
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,180817,124033,6200.1958,-17424.4980,5,0.8,22,6.8,0.5,257.1,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-42.6
$GPS2,180817,124857,6200.2310,-17424.5117,8,0.8,19,6.8,0.3,233.8,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$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,154.2,7151,-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,-487.5,230,1946,1758,4092,0.0,0.0,0,18,6.72,0.00,0.00,0.000,2049,0.107,0.000,786,1946,1758,1758,4095,0,0,0,0,0,0,26.18,28.83,28.83,10.22,51.14
$GC,22,-1.78,-487.5,786,1946,1758,4095,0.9,0.0,1,52,10.68,1.23,-12.20,0.000,18692,0.053,1.261,1763,2388,3054,3054,4094,0,0,0,0,0,0,25.90,24.45,25.97,10.23,51.14
$GC,160,-1.78,-487.5,1762,2387,3058,4094,17.2,-18.3,23,167,0.00,1.10,0.00,0.000,1030,0.000,0.029,1763,1949,3058,3058,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.51,50.70
$GC,200,-1.78,-487.5,1762,1948,3058,4094,24.3,-15.3,29,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3059,3059,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.47,50.51
$GC,239,-1.78,-487.5,1762,1948,3060,4095,29.3,-12.7,35,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3060,3060,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.43,49.76
$GC,278,-1.78,-487.5,1762,1948,3060,4094,34.4,-12.7,41,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3060,3060,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.40,48.62
$GC,317,-1.78,-487.5,1762,1948,3061,4094,39.4,-12.6,47,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3061,3061,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.39,48.42
$GC,356,-1.78,-487.5,1762,1948,3062,4095,44.3,-12.3,53,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3062,3062,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.38,47.28
$GC,395,-1.78,-487.5,1762,1948,3062,4095,49.2,-12.5,59,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3063,3063,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.37,46.25
$GC,434,-1.78,-487.5,1762,1948,3064,4095,54.2,-13.3,65,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3064,3064,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,46.10
$GC,473,-1.78,-487.5,1762,1948,3065,4095,59.4,-13.5,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3065,3065,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.36,45.55
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,492,-0.45,0.0,1763,2148,3066,4094,61.2,-12.9,73,528,4.55,0.00,28.25,1.316,10244,0.054,0.000,2185,2148,2484,2484,4095,0,0,0,0,0,0,26.15,25.25,24.18,10.35,45.82
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,533,1.78,487.5,2185,2148,2484,4095,64.1,0.0,79,575,7.55,0.00,27.98,1.286,11270,0.031,0.000,2891,2148,1915,1915,4095,0,0,0,0,0,0,25.54,25.68,23.78,10.23,44.95
$GC,608,1.78,487.5,2891,2147,1915,4095,57.7,12.6,91,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2148,1914,1914,4094,0,0,0,0,0,0,25.52,25.53,25.53,10.09,44.48
$GC,647,1.78,487.5,2890,2148,1913,4094,52.5,13.2,97,653,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1718,1914,1914,4094,0,0,0,0,0,0,25.69,25.41,25.70,10.09,44.48
$GC,734,1.78,487.5,2891,1718,1911,4094,40.9,13.1,111,741,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2124,1911,1911,4094,0,0,0,0,0,0,25.70,25.67,25.73,10.07,45.66
$GC,774,1.78,487.5,2890,2124,1910,4094,35.8,12.9,117,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1910,1910,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.08,45.94
$GC,813,1.78,487.5,2890,2124,1908,4094,30.8,12.8,123,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1908,1908,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.07,45.90
$GC,852,1.78,487.5,2891,2124,1908,4094,26.1,11.8,129,859,0.00,1.08,0.00,0.000,516,0.000,0.045,2891,1717,1907,1907,4094,0,0,0,0,0,0,26.12,25.81,26.13,10.08,46.61
$GC,910,1.90,565.9,2891,1717,1906,4094,19.6,9.4,138,924,0.32,1.00,5.55,0.603,11270,0.035,0.028,2930,2129,1823,1823,4094,0,0,0,0,0,0,25.97,25.94,24.79,10.12,47.55
$GC,957,2.14,727.4,2929,2129,1822,4094,15.8,8.1,145,971,0.73,0.00,9.98,0.705,10246,0.028,0.000,3003,2129,1635,1635,4094,0,0,0,0,0,0,25.94,25.56,24.77,10.13,49.60
$GC,1004,2.14,727.4,3003,2129,1633,4094,11.0,10.6,152,1011,0.00,1.10,0.00,0.000,516,0.000,0.049,3004,1718,1633,1633,4094,0,0,0,0,0,0,26.08,25.77,26.09,10.11,51.41
$GC,1056,2.14,727.4,3003,1718,1632,4094,5.4,10.7,160,1063,0.00,0.95,0.00,0.000,1030,0.000,0.028,3003,2114,1632,1632,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.13,51.45
$STATE,1086,end climb,FINISH_DEPTH_REACHED
$STATE,1086,begin subsurface finish
$FINISH1,1.9,1.023767,128
$GC,1096,0.19,127.8,3003,2114,1630,4094,1.9,10.1,165,1114,6.62,0.00,-6.30,0.000,20486,0.063,0.000,2408,2114,2343,2343,4094,0,0,0,0,0,0,25.91,24.81,25.95,10.13,52.04
$FINISH2,0.2
$STATE,1115,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,113230
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.48
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.78,35.753
$10V_AH,10.28,36.932
$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,37.175,9.100,71.750,0.000,0.000,23.471,16.910,262.152,0.000,0.000,21.199,434.203,247.896,172.780,536.053,242.742,0.000,367.719,0.000,254.273,0.000,0.542,0.000
$DEVICE_MAMPS,107.100,1260.720,1315.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,10835,168
$CAP_FILE_SIZE,34823,0
$CFSIZE,1024409600,956923904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180817,124857,6200.231,-17424.512,8,0.8,19,6.8,0.3,233.8,11,4.9