version: 66.13
glider: 401
mission: 22
dive: 13
start: 7 26 117 22 28 4
data:
$ID,401
$MISSION,22
$DIVE,13
$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,20
$T_MISSION,30
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-2
$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,2360
$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,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$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
$GPS1,260717,222222,5916.7500,-17025.6582,5,1.0,34,8.6,0.3,189.9,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.4
$GPS2,260717,222656,5916.7222,-17025.6270,6,1.0,39,8.6,0.4,97.1,9,3.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.261869,0.170772
$KALMAN_X,2485.489014,931.147705,363.745453,-3908.779053,142.886932
$KALMAN_Y,1120.115356,588.018433,226.708084,674.489929,-94.842300
$MHEAD_RNG_PITCHd_Wd,294.5,32213,-14.6,-10.000,-17.74,4419
$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,7,-1.77,-292.5,239,1900,2145,4092,0.0,0.0,0,21,11.43,0.00,0.00,0.000,2049,0.116,0.000,1176,1896,2145,2145,4095,0,0,0,0,0,0,26.41,28.83,28.83,10.29,49.84
$GC,23,-1.77,-292.5,1176,1895,2145,4095,1.1,0.0,1,43,6.82,3.53,-6.25,0.000,18948,0.076,1.310,1785,700,2845,2845,4094,0,0,0,0,0,0,26.06,24.88,26.15,10.29,50.19
$GC,59,-1.77,-292.5,1785,699,2845,4094,1.3,-0.2,5,69,0.00,2.97,0.00,0.000,1030,0.000,0.037,1785,1869,2844,2844,4095,0,0,0,0,0,0,26.06,26.01,26.09,10.44,50.00
$GC,106,-1.77,-292.5,1785,1869,2845,4095,6.7,-12.9,11,114,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1869,2846,2846,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.44,49.01
$GC,150,-1.77,-292.5,1785,1869,2847,4095,13.4,-14.7,17,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1869,2847,2847,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.44,49.37
$GC,194,-1.77,-292.5,1785,1871,2848,4094,19.2,-12.7,23,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1871,2849,2849,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.42,48.38
$GC,238,-1.77,-292.5,1785,1871,2849,4094,24.5,-11.7,29,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1871,2849,2849,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.39,47.67
$GC,282,-1.77,-292.5,1785,1871,2850,4095,29.8,-12.0,35,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1871,2850,2850,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.38,46.88
$GC,326,-1.77,-292.5,1785,1871,2852,4095,35.4,-12.8,41,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1871,2852,2852,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.37,45.98
$GC,370,-1.77,-292.5,1786,1871,2852,4095,41.0,-12.9,47,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1871,2852,2852,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.36,45.58
$GC,415,-1.77,-292.5,1785,1871,2853,4094,46.9,-13.8,53,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1871,2854,2854,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.36,45.74
$GC,459,-1.77,-292.5,1786,1871,2854,4094,52.7,-12.7,59,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1871,2855,2855,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.35,45.19
$GC,503,-1.77,-292.5,1785,1871,2855,4095,58.4,-13.3,65,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1871,2856,2856,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.34,44.88
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,525,-0.45,0.0,1785,2044,2856,4094,60.9,-13.5,67,553,4.60,0.05,17.92,1.224,10244,0.069,0.133,2205,2006,2499,2499,4095,0,0,0,0,0,0,26.25,25.65,24.71,10.34,45.15
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,556,1.77,292.5,2205,2005,2499,4095,63.5,0.0,70,584,7.45,0.00,17.42,1.204,11270,0.042,0.000,2906,2005,2159,2159,4094,0,0,0,0,0,0,25.86,26.05,24.32,10.26,45.07
$GC,621,1.77,292.5,2905,2005,2158,4094,58.8,10.9,78,631,0.00,3.33,0.00,0.000,260,0.000,0.065,2906,3189,2158,2158,4094,0,0,0,0,0,0,25.82,25.47,25.83,10.18,44.36
$GC,653,1.77,292.5,2905,3188,2157,4094,54.7,12.3,82,663,0.00,3.05,0.00,0.000,1030,0.000,0.034,2906,2038,2157,2157,4094,0,0,0,0,0,0,25.66,25.62,25.72,10.17,44.32
$GC,698,1.77,292.5,2905,2038,2157,4094,49.0,12.7,88,708,0.00,3.53,0.00,0.000,516,0.000,0.094,2906,821,2156,2156,4094,0,0,0,0,0,0,26.01,25.61,26.01,10.17,44.76
$GC,778,1.77,292.5,2905,821,2154,4094,38.2,14.4,99,787,0.00,2.97,0.00,0.000,1030,0.000,0.036,2906,1978,2153,2153,4094,0,0,0,0,0,0,25.90,25.86,25.95,10.17,44.56
$GC,824,1.77,292.5,2906,1978,2152,4094,31.9,13.3,105,834,0.00,3.45,0.00,0.000,260,0.000,0.072,2906,3211,2152,2152,4094,0,0,0,0,0,0,26.19,25.82,26.20,10.16,44.88
$GC,876,1.77,292.5,2906,3211,2151,4094,24.3,14.4,112,885,0.00,3.15,0.00,0.000,1030,0.000,0.036,2906,2005,2151,2151,4094,0,0,0,0,0,0,25.99,25.94,26.04,10.16,45.39
$GC,921,1.77,292.5,2906,2003,2149,4094,18.2,13.1,118,930,0.00,3.35,0.00,0.000,516,0.000,0.089,2906,822,2149,2149,4094,0,0,0,0,0,0,26.29,25.89,26.30,10.16,45.23
$GC,1031,1.77,292.5,2905,822,2146,4094,5.2,12.1,134,1040,0.00,2.90,0.00,0.000,1030,0.000,0.036,2906,1965,2146,2146,4094,0,0,0,0,0,0,26.15,26.10,26.16,10.22,48.42
$STATE,1061,end climb,FINISH_DEPTH_REACHED
$STATE,1061,begin subsurface finish
$FINISH1,1.5,1.024345,87
$GC,1068,0.13,87.5,2906,2047,2145,4094,1.5,11.6,138,1078,5.22,0.00,-2.25,0.000,20742,0.040,0.000,2405,2048,2403,2403,4094,0,0,0,0,0,0,26.13,25.14,26.19,10.24,48.74
$FINISH2,0.2
$STATE,1079,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1079,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,260717,215214
$TT8_MAMPS,0.024717,0.264397
$HUMID,49.29
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.32,0.598
$10V_AH,10.27,0.618
$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,35.525,32.775,35.350,0.000,0.000,23.747,18.995,122.117,0.000,0.000,41.451,405.285,0.000,119.882,795.000,57.191,33.449,362.281,0.000,340.123,0.000,1.732,0.000
$DEVICE_MAMPS,116.280,1310.445,1224.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.475,377.506,298.972,442.859,580.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329476
$DATA_FILE_SIZE,14287,139
$CAP_FILE_SIZE,32911,0
$CFSIZE,1024409600,1018855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,222656,5916.722,-17025.627,6,1.0,39,8.6,0.4,97.1,9,3.0