version: 66.13
glider: 401
mission: 22
dive: 1400
start: 8 20 117 17 7 6
data:
$ID,401
$MISSION,22
$DIVE,1400
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,200817,164624,6147.2998,-17356.2617,1,0.9,15,7.0,0.2,31.6,10,4.9
$_CALLS,7
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-0.8
$GPS2,200817,164624,6147.2998,-17356.2617,1,0.9,15,7.0,0.2,31.6,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,158.7,43278,-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,-487.5,2402,1959,2349,4092,0.0,0.0,0,20,6.35,0.00,-2.12,0.000,20482,0.024,0.000,1785,1959,2585,2585,4095,0,0,0,0,0,0,26.14,28.83,26.19,10.33,52.44
$GC,25,-1.78,-487.5,1785,1958,2585,4095,0.2,0.0,1,35,0.00,1.17,-4.30,0.000,16644,0.000,1.253,1785,2380,3057,3057,4095,0,0,0,0,0,0,26.37,24.56,26.39,10.38,53.03
$GC,239,-1.78,-487.5,1784,2381,3062,4095,24.3,-16.0,32,248,0.00,1.08,0.00,0.000,1030,0.000,0.029,1785,1946,3062,3062,4094,0,0,0,0,0,0,26.17,26.15,26.22,10.48,52.16
$GC,288,-1.78,-487.5,1784,1946,3063,4094,30.3,-12.8,38,297,0.00,1.05,0.00,0.000,516,0.000,0.050,1785,1528,3063,3063,4095,0,0,0,0,0,0,26.48,26.14,26.49,10.44,51.53
$GC,369,-1.78,-487.5,1784,1528,3064,4095,40.3,-12.1,49,378,0.00,0.98,0.00,0.000,1030,0.000,0.025,1785,1953,3065,3065,4095,0,0,0,0,0,0,26.30,26.29,26.31,10.39,49.52
$GC,418,-1.78,-487.5,1784,1953,3066,4095,46.1,-11.9,55,427,0.00,1.08,0.00,0.000,260,0.000,0.044,1785,2368,3066,3066,4094,0,0,0,0,0,0,26.53,26.20,26.55,10.38,48.14
$GC,484,-1.78,-487.5,1784,2368,3068,4094,54.4,-12.3,64,494,0.00,1.02,0.00,0.000,1030,0.000,0.030,1785,1954,3068,3068,4094,0,0,0,0,0,0,26.31,26.27,26.33,10.36,47.48
$STATE,528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,528,begin apogee
$GC,537,-0.45,0.0,1784,2139,3069,4094,60.3,-12.4,70,573,4.30,0.00,28.30,1.303,10244,0.054,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.25,25.37,24.32,10.36,47.63
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,578,1.78,487.5,2185,2138,2483,4094,63.5,0.0,74,623,7.55,0.00,27.75,1.278,11270,0.031,0.000,2891,2139,1920,1920,4094,0,0,0,0,0,0,25.63,25.79,23.94,10.23,47.00
$GC,662,1.78,487.5,2890,2138,1919,4094,57.0,12.4,84,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1919,1919,4094,0,0,0,0,0,0,25.63,25.64,25.63,10.10,45.31
$GC,710,1.78,487.5,2890,2138,1918,4094,50.6,13.2,90,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1918,1918,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.10,45.66
$GC,758,1.78,487.5,2890,2138,1917,4094,44.2,13.4,96,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1916,1916,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.09,46.02
$GC,806,1.78,487.5,2890,2138,1915,4094,37.7,12.9,102,816,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1711,1915,1915,4094,0,0,0,0,0,0,26.03,25.71,26.04,10.08,46.69
$GC,1020,1.91,573.4,2890,1710,1910,4094,14.5,9.3,133,1031,0.35,1.00,6.00,0.573,11270,0.034,0.029,2933,2123,1814,1814,4094,0,0,0,0,0,0,26.07,26.03,24.88,10.17,51.45
$GC,1071,1.93,590.4,2932,2122,1813,4094,9.5,10.3,139,1081,0.00,0.00,2.62,0.210,8198,0.000,0.000,2933,2123,1796,1796,4094,0,0,0,0,0,0,26.27,25.45,24.92,10.17,52.28
$GC,1120,1.93,590.4,2932,2122,1795,4094,4.1,11.3,145,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2123,1795,1795,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.17,52.12
$STATE,1135,end climb,FINISH_DEPTH_REACHED
$STATE,1135,begin subsurface finish
$FINISH1,1.9,1.023874,120
$GC,1145,0.18,120.3,2933,2122,1794,4094,1.9,10.5,147,1164,5.53,0.00,-4.85,0.000,20486,0.027,0.000,2400,2123,2348,2348,4095,0,0,0,0,0,0,26.08,25.46,26.14,10.18,53.22
$FINISH2,0.2
$STATE,1165,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1165,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,163147
$TT8_MAMPS,0.025466,0.244923
$HUMID,53.58
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.94,39.574
$10V_AH,10.14,39.991
$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,24.075,9.350,64.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,417.812,0.000,102.646,623.640,81.044,0.000,322.874,0.000,362.089,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1253.070,1302.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.339,404.876,320.385,475.141,622.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14417,149
$CAP_FILE_SIZE,24449,0
$CFSIZE,1024409600,950697984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,164624,6147.300,-17356.262,1,0.9,15,7.0,0.2,31.6,10,4.9