version: 66.13
glider: 401
mission: 22
dive: 117
start: 7 28 117 18 16 49
data:
$ID,401
$MISSION,22
$DIVE,117
$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,450
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,33
$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
$GPS1,280717,172958,5925.7705,-17049.9023,40,0.7,42,8.4,0.5,310.4,11,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-4.2
$GPS2,280717,172958,5925.7705,-17049.9023,40,0.7,42,8.4,0.5,310.4,11,4.4
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.355979,0.009925
$KALMAN_X,17536.503906,-1254.573120,-549.027222,-38854.687500,75.961426
$KALMAN_Y,4571.988281,1015.715210,55.823238,13721.946289,54.252628
$MHEAD_RNG_PITCHd_Wd,263.2,4259,-10.5,-9.091,-14.32,7208
$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,-1.61,-438.8,2403,1921,2397,4092,0.0,0.0,0,21,5.82,0.00,-5.40,0.000,20482,0.030,0.000,1848,1922,2996,2996,4094,0,0,0,0,0,0,26.04,28.83,26.08,10.30,49.92
$GC,23,-1.61,-438.8,1848,1922,2996,4094,0.1,0.0,1,32,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1848,1922,3017,3017,4095,0,0,0,0,0,0,26.26,25.51,26.06,10.43,49.80
$GC,67,-1.61,-438.8,1848,1921,3017,4095,4.2,-10.3,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1922,3018,3018,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.43,50.03
$GC,110,-1.61,-438.8,1848,1922,3018,4095,9.7,-13.1,13,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1921,3019,3019,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.44,49.84
$GC,154,-1.61,-438.8,1848,1921,3020,4094,15.2,-12.5,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1922,3020,3020,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.44,49.76
$GC,199,-1.61,-438.8,1848,1922,3021,4094,20.9,-12.2,25,208,0.00,2.28,0.00,0.000,260,0.000,0.060,1848,2751,3020,3020,4095,0,0,0,0,0,0,26.28,25.96,26.29,10.41,49.17
$GC,259,-1.61,-438.8,1848,2751,3022,4095,26.5,-10.0,33,267,0.00,2.20,0.00,0.000,1030,0.000,0.032,1848,1896,3022,3022,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.38,47.99
$GC,304,-1.61,-438.8,1848,1896,3023,4094,31.2,-10.7,39,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,3023,3023,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.36,47.16
$GC,350,-1.61,-438.8,1848,1896,3023,4095,36.3,-11.4,45,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,3024,3024,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.36,46.77
$GC,393,-1.61,-438.8,1848,1896,3024,4095,40.9,-10.1,51,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,3025,3025,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.34,46.29
$GC,437,-1.61,-438.8,1848,1896,3025,4094,45.4,-10.6,57,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,3025,3025,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.34,46.06
$GC,481,-1.61,-438.8,1848,1896,3026,4094,50.2,-11.3,63,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,3026,3026,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.33,45.51
$GC,526,-1.61,-438.8,1848,1896,3027,4095,55.1,-10.7,69,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,3027,3027,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.33,45.98
$GC,569,-1.61,-438.8,1848,1896,3028,4094,59.6,-10.8,75,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,3029,3029,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.33,45.98
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,591,-0.45,0.0,1848,2034,3028,4095,61.7,-11.4,77,626,3.92,0.00,25.48,1.294,10244,0.063,0.000,2205,2034,2504,2504,4095,0,0,0,0,0,0,26.21,25.20,24.54,10.32,45.47
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,629,1.61,438.8,2205,2034,2503,4095,64.2,0.0,81,666,7.07,0.00,25.52,1.276,11270,0.040,0.000,2863,2034,1987,1987,4094,0,0,0,0,0,0,25.62,25.78,24.03,10.21,44.76
$GC,703,1.61,438.8,2862,2034,1985,4094,59.5,9.7,90,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2034,1986,1986,4094,0,0,0,0,0,0,25.51,25.53,25.53,10.10,44.68
$GC,746,1.61,438.8,2862,2034,1985,4094,54.5,11.2,96,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2034,1986,1986,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.10,44.36
$GC,791,1.61,438.8,2863,2034,1985,4094,49.7,10.5,102,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2034,1984,1984,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.09,44.60
$GC,835,1.61,438.8,2862,2034,1983,4094,45.1,10.6,108,844,0.00,2.45,0.00,0.000,516,0.000,0.066,2863,1156,1983,1983,4095,0,0,0,0,0,0,25.91,25.57,25.92,10.09,44.60
$GC,873,1.61,438.8,2862,1155,1983,4095,40.6,11.8,113,883,0.00,2.12,0.00,0.000,1030,0.000,0.031,2863,1989,1982,1982,4094,0,0,0,0,0,0,25.76,25.76,25.78,10.09,44.60
$GC,920,1.61,438.8,2862,1989,1982,4094,35.4,11.7,119,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,1981,1981,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.08,44.88
$GC,966,1.61,438.8,2863,1989,1980,4094,30.0,11.6,125,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,1980,1980,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.08,45.07
$GC,1009,1.61,438.8,2862,1989,1979,4094,25.0,10.9,131,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,1979,1979,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.07,45.07
$GC,1054,1.61,438.8,2862,1989,1978,4094,20.1,11.1,137,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,1978,1978,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.07,45.94
$GC,1098,1.61,438.8,2863,1990,1977,4094,15.3,9.6,143,1107,0.00,2.45,0.00,0.000,260,0.000,0.060,2864,2886,1977,1977,4094,0,0,0,0,0,0,26.24,25.91,26.25,10.11,45.86
$GC,1163,1.61,438.8,2862,2885,1975,4094,8.9,10.7,152,1172,0.00,2.25,0.00,0.000,1030,0.000,0.033,2864,2014,1975,1975,4094,0,0,0,0,0,0,26.07,26.01,26.08,10.14,47.59
$GC,1208,1.61,438.8,2862,2014,1974,4094,4.1,10.7,158,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2014,1974,1974,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.16,48.85
$STATE,1231,end climb,SURFACE_DEPTH_REACHED
$STATE,1231,begin surface coast
$FINISH,0.1,1.012929
$STATE,1252,end surface coast,CONTROL_FINISHED_OK
$STATE,1252,begin surface
$SM_CCo,1348,0.00,0.000,0,0,1972,454.20
$SM_GC,0.99,27.62,0.30,0.00,0.027,0.071,0.000,241,1896,1972,-6.61,0.87,454.20,0,0,0,0,0,0,26.11,26.08,26.15
$IRIDIUM_FIX,5957.10,-16911.74,280717,172008
$TT8_MAMPS,0.025466,0.240429
$HUMID,49.84
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.03,2.902
$10V_AH,10.27,4.468
$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,44.450,16.275,51.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,455.511,59.803,166.394,680.963,47.075,33.415,438.206,0.000,396.130,0.000,0.541,0.000
$DEVICE_MAMPS,62.730,71.145,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.789,445.520,352.886,523.218,678.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331008
$DATA_FILE_SIZE,14329,164
$CAP_FILE_SIZE,33835,0
$CFSIZE,1024409600,1013743616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280717,184007,5926.350,-17051.412,2,0.8,16,8.4,0.2,264.7,12,4.7