version: 66.13
glider: 401
mission: 22
dive: 101
start: 7 28 117 11 10 50
data:
$ID,401
$MISSION,22
$DIVE,101
$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,22
$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,350
$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,-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,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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$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,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
$GPS1,280717,104742,5926.2754,-17044.7422,10,0.8,17,8.5,0.0,13.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.6
$GPS2,280717,104742,5926.2754,-17044.7422,10,0.8,17,8.5,0.0,13.4,10,5.0
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.319843,0.033909
$KALMAN_X,16231.749023,-1003.585144,-266.710571,-33190.636719,188.013596
$KALMAN_Y,6838.737793,1671.737915,614.159424,11174.087891,-50.252747
$MHEAD_RNG_PITCHd_Wd,267.6,9060,-12.2,-9.091,-15.78,5644
$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,8,-1.62,-341.3,2407,1897,2397,4092,0.0,0.0,0,21,5.88,0.00,-4.40,0.000,20486,0.028,0.000,1843,1897,2903,2903,4095,0,0,0,0,0,0,26.08,25.18,26.10,10.31,49.29
$GC,23,-1.62,-341.3,1842,1897,2903,4095,0.1,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2903,2903,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.42,49.96
$GC,67,-1.62,-341.3,1842,1897,2904,4094,4.8,-11.9,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2903,2903,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.42,50.07
$GC,111,-1.62,-341.3,1842,1897,2905,4095,10.5,-13.7,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2905,2905,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.42,49.09
$GC,154,-1.62,-341.3,1842,1897,2906,4094,16.2,-13.1,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2906,2906,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.42,48.93
$GC,198,-1.62,-341.3,1842,1897,2907,4095,21.0,-10.0,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1897,2907,2907,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,48.70
$GC,243,-1.62,-341.3,1842,1897,2908,4095,25.8,-10.9,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2908,2908,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.36,48.38
$GC,286,-1.62,-341.3,1842,1897,2909,4095,30.6,-11.0,37,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2909,2909,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.34,47.87
$GC,330,-1.62,-341.3,1842,1897,2910,4094,35.6,-10.9,43,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2910,2910,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.34,46.53
$GC,374,-1.62,-341.3,1842,1897,2910,4095,40.7,-11.9,49,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1898,2911,2911,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.33,46.41
$GC,418,-1.62,-341.3,1841,1897,2912,4095,45.3,-10.9,55,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2912,2912,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.32,46.22
$GC,461,-1.62,-341.3,1841,1897,2912,4094,49.6,-9.8,61,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2912,2912,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.32,46.10
$GC,506,-1.62,-341.3,1842,1897,2913,4095,54.5,-11.5,67,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2913,2913,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.32,45.15
$GC,550,-1.62,-341.3,1842,1897,2914,4094,59.2,-10.0,73,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1897,2914,2914,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.31,45.31
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,572,-0.45,0.0,1842,2034,2914,4095,61.3,-10.0,75,599,4.00,0.00,20.35,1.269,10246,0.063,0.000,2206,2034,2500,2500,4094,0,0,0,0,0,0,26.27,25.60,24.73,10.31,45.51
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.62,341.3,2206,2034,2500,4094,63.8,0.0,78,638,7.00,0.00,20.02,1.251,10246,0.041,0.000,2863,2034,2102,2102,4094,0,0,0,0,0,0,25.79,24.92,24.28,10.22,45.07
$GC,675,1.62,341.3,2863,2033,2099,4094,59.3,9.7,87,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2034,2100,2100,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,43.93
$GC,721,1.62,341.3,2863,2034,2099,4094,54.0,12.4,93,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2034,2099,2099,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.13,44.17
$GC,765,1.62,341.3,2863,2034,2098,4094,48.2,12.1,99,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2034,2097,2097,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.12,44.05
$GC,810,1.62,341.3,2863,2034,2096,4094,42.6,12.1,105,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2034,2096,2096,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.12,44.52
$GC,854,1.62,341.3,2863,2038,2095,4094,37.4,11.5,111,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2038,2094,2094,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.11,44.52
$GC,898,1.62,341.3,2863,2037,2094,4094,32.2,11.8,117,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2038,2094,2094,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.11,45.23
$GC,943,1.62,341.3,2863,2038,2093,4094,27.1,11.1,123,952,0.00,2.75,0.00,0.000,516,0.000,0.073,2864,1050,2093,2093,4095,0,0,0,0,0,0,26.17,25.84,26.18,10.10,45.43
$GC,989,1.62,341.3,2863,1050,2092,4095,21.8,11.7,129,999,0.00,2.40,0.00,0.000,1030,0.000,0.031,2864,1999,2092,2092,4094,0,0,0,0,0,0,26.00,25.97,26.01,10.10,45.43
$GC,1036,1.62,341.3,2863,1998,2091,4094,16.4,12.0,135,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1999,2090,2090,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.12,45.23
$GC,1082,1.64,351.1,2863,1999,2090,4094,12.1,8.9,141,1091,0.00,2.65,0.00,0.000,516,0.000,0.073,2864,1047,2090,2090,4094,0,0,0,0,0,0,26.29,25.93,26.30,10.16,46.73
$GC,1166,1.64,351.1,2863,1047,2088,4094,4.3,10.4,153,1175,0.00,2.35,0.00,0.000,1030,0.000,0.031,2864,1979,2088,2088,4094,0,0,0,0,0,0,26.13,26.09,26.15,10.20,48.50
$STATE,1190,end climb,FINISH_DEPTH_REACHED
$STATE,1190,begin subsurface finish
$FINISH1,1.4,1.024307,90
$GC,1196,0.14,90.1,2863,2041,2087,4094,1.4,11.3,156,1207,4.72,0.00,-2.80,0.000,20486,0.029,0.000,2407,2040,2402,2402,4095,0,0,0,0,0,0,26.13,25.27,26.18,10.20,49.17
$FINISH2,0.2
$STATE,1208,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1208,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,092752
$TT8_MAMPS,0.026215,0.256158
$HUMID,49.37
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.28,2.524
$10V_AH,10.26,3.841
$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,21.600,10.750,40.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.917,0.000,131.985,655.418,43.561,33.422,398.654,0.000,378.647,0.000,0.542,0.000
$DEVICE_MAMPS,63.495,104.805,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.711,426.425,337.704,500.700,653.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330928
$DATA_FILE_SIZE,14327,157
$CAP_FILE_SIZE,30923,0
$CFSIZE,1024409600,1014546432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,104742,5926.275,-17044.742,10,0.8,17,8.5,0.0,13.4,10,5.0