version: 66.13
glider: 401
mission: 22
dive: 1514
start: 8 22 117 15 14 25
data:
$ID,401
$MISSION,22
$DIVE,1514
$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,28
$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
$GPS1,220817,145346,6128.1353,-17350.8496,10,0.7,14,7.0,0.0,243.3,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-1.0
$GPS2,220817,145346,6128.1353,-17350.8496,10,0.7,14,7.0,0.0,243.3,11,4.5
$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,130.4,8750,-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,10,-1.78,-487.5,2389,1967,2370,4092,0.0,0.0,0,21,6.20,0.00,-2.22,0.000,20482,0.024,0.000,1788,1968,2610,2610,4095,0,0,0,0,0,0,26.15,28.83,26.19,10.31,53.62
$GC,26,-1.78,-487.5,1787,1968,2610,4095,0.1,0.0,1,35,0.00,0.00,-4.25,0.000,16390,0.000,0.000,1788,1968,3060,3060,4094,0,0,0,0,0,0,26.38,24.75,26.39,10.36,53.34
$GC,73,-1.78,-487.5,1787,1968,3061,4094,3.8,-12.7,7,82,0.00,1.15,0.00,0.000,516,0.000,0.050,1787,1519,3061,3061,4095,0,0,0,0,0,0,26.34,25.96,26.34,10.46,53.66
$GC,140,-1.78,-487.5,1786,1518,3063,4095,15.0,-16.6,16,148,0.00,1.02,0.00,0.000,1030,0.000,0.029,1787,1948,3063,3063,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.46,53.15
$GC,186,-1.78,-487.5,1787,1948,3064,4094,22.0,-14.9,22,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1948,3064,3064,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.44,52.63
$GC,233,-1.78,-487.5,1787,1948,3065,4094,28.1,-12.6,28,242,0.00,1.12,0.00,0.000,260,0.000,0.046,1787,2378,3066,3066,4094,0,0,0,0,0,0,26.44,26.09,26.46,10.41,52.40
$GC,287,-1.78,-487.5,1786,2378,3066,4094,34.7,-12.2,35,296,0.00,1.08,0.00,0.000,1030,0.000,0.031,1787,1946,3067,3067,4095,0,0,0,0,0,0,26.19,26.16,26.22,10.39,51.26
$GC,335,-1.78,-487.5,1786,1946,3068,4095,40.7,-12.6,41,343,0.00,1.08,0.00,0.000,516,0.000,0.052,1787,1523,3068,3068,4094,0,0,0,0,0,0,26.50,26.12,26.51,10.37,49.64
$GC,409,-1.78,-487.5,1786,1522,3069,4094,49.9,-12.8,51,418,0.00,1.00,0.00,0.000,1030,0.000,0.026,1787,1950,3070,3070,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.36,48.70
$GC,458,-1.78,-487.5,1787,1950,3070,4095,56.1,-12.6,57,467,0.00,1.10,0.00,0.000,260,0.000,0.045,1787,2371,3070,3070,4095,0,0,0,0,0,0,26.55,26.19,26.55,10.34,48.22
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,498,-0.45,0.0,1787,2118,3071,4094,60.7,-12.8,61,534,4.28,0.00,28.52,1.328,10244,0.054,0.000,2184,2118,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.34,47.59
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,539,1.78,487.5,2184,2117,2484,4094,64.0,0.0,65,584,7.50,0.00,28.02,1.298,11270,0.031,0.000,2893,2117,1916,1916,4094,0,0,0,0,0,0,25.58,25.75,23.84,10.21,47.59
$GC,624,1.78,487.5,2892,2117,1915,4094,57.4,12.7,75,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2118,1915,1915,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.08,46.45
$GC,672,1.78,487.5,2892,2117,1914,4094,50.7,13.8,81,682,0.00,1.00,0.00,0.000,516,0.000,0.046,2892,1735,1914,1914,4094,0,0,0,0,0,0,25.77,25.46,25.79,10.07,46.45
$GC,753,1.78,487.5,2892,1734,1911,4094,39.7,13.2,92,763,0.00,0.98,0.00,0.000,1030,0.000,0.031,2892,2127,1911,1911,4095,0,0,0,0,0,0,25.75,25.70,25.76,10.07,46.33
$GC,803,1.78,487.5,2892,2127,1910,4095,33.6,12.1,98,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1910,1910,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.06,46.85
$GC,851,1.78,487.5,2892,2127,1909,4095,27.9,11.8,104,860,0.00,1.02,0.00,0.000,516,0.000,0.045,2893,1735,1908,1908,4094,0,0,0,0,0,0,26.13,25.79,26.15,10.07,47.40
$GC,957,1.78,487.5,2892,1735,1905,4094,14.9,11.9,119,966,0.00,0.98,0.00,0.000,1030,0.000,0.031,2893,2132,1905,1905,4094,0,0,0,0,0,0,26.01,26.00,26.02,10.12,50.00
$GC,1004,1.78,487.5,2892,2132,1904,4094,9.6,10.7,125,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1904,1904,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.14,51.14
$GC,1053,1.85,537.1,2892,2132,1903,4094,4.8,9.8,131,1064,0.15,1.00,3.90,0.383,10756,0.060,0.045,2916,1733,1856,1856,4094,0,0,0,0,0,0,26.10,25.44,24.90,10.16,52.32
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.5,1.024144,101
$GC,1090,0.15,101.5,2915,2140,1856,4094,1.5,10.6,134,1108,5.40,0.00,-4.62,0.000,20998,0.023,0.000,2388,2141,2367,2367,4094,0,0,0,0,0,0,26.09,25.44,26.13,10.16,52.32
$FINISH2,0.2
$STATE,1109,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,6144.84,-17201.19,220817,133704
$TT8_MAMPS,0.026215,0.252413
$HUMID,53.50
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.84,42.859
$10V_AH,10.13,42.693
$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,23.525,14.600,60.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,389.898,0.000,117.543,569.900,92.277,0.000,349.592,0.000,332.379,0.000,0.543,0.000
$DEVICE_MAMPS,60.435,52.020,1328.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.889,369.452,292.501,433.751,566.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14315,136
$CAP_FILE_SIZE,27283,0
$CFSIZE,1024409600,945094656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,145346,6128.135,-17350.850,10,0.7,14,7.0,0.0,243.3,11,4.5