version: 66.13
glider: 401
mission: 22
dive: 144
start: 7 29 117 5 47 24
data:
$ID,401
$MISSION,22
$DIVE,144
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,290717,050137,5930.1001,-17053.2949,8,0.9,16,8.4,0.7,263.8,10,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.8
$GPS2,290717,050137,5930.1001,-17053.2949,8,0.9,16,8.4,0.7,263.8,10,4.5
$SPEED_LIMITS,0.157,0.356
$TGT_NAME,W2N
$TGT_LATLONG,5935.700,-17055.381
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.021407,0.358116
$KALMAN_X,19403.240234,-1171.028198,-366.554626,-44190.046875,-92.672089
$KALMAN_Y,3622.343994,1460.177124,446.819763,21861.177734,-134.512207
$MHEAD_RNG_PITCHd_Wd,355.0,10554,-10.4,-9.091,-14.22,7338
$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,-1.60,-438.8,2358,1881,2506,4092,0.0,0.0,0,20,5.18,0.00,-4.75,0.000,20486,0.029,0.000,1865,1881,3018,3018,4095,0,0,0,0,0,0,26.05,25.20,26.07,10.32,50.59
$GC,22,-1.60,-438.8,1865,1881,3019,4095,-0.0,0.0,1,31,0.00,2.30,0.00,0.000,516,0.000,0.068,1865,1041,3019,3019,4094,0,0,0,0,0,0,26.26,25.94,26.27,10.43,51.02
$GC,60,-1.60,-438.8,1865,1041,3019,4094,3.7,-10.4,6,70,0.00,2.15,0.00,0.000,1030,0.000,0.033,1865,1890,3019,3019,4095,0,0,0,0,0,0,26.09,26.08,26.13,10.42,50.74
$GC,107,-1.60,-438.8,1865,1893,3020,4095,9.4,-13.4,12,114,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1893,3020,3020,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.43,50.63
$GC,150,-1.60,-438.8,1865,1893,3021,4095,15.1,-12.7,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1893,3022,3022,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.44,50.15
$GC,194,-1.60,-438.8,1865,1893,3022,4095,19.6,-9.0,24,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1893,3022,3022,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.40,50.03
$GC,239,-1.60,-438.8,1865,1893,3023,4095,23.8,-9.3,30,248,0.00,2.38,0.00,0.000,260,0.000,0.058,1865,2772,3023,3023,4095,0,0,0,0,0,0,26.41,26.07,26.43,10.38,49.01
$GC,266,-1.60,-438.8,1865,2771,3023,4095,26.3,-9.6,33,275,0.00,2.15,0.00,0.000,1030,0.000,0.032,1865,1930,3024,3024,4094,0,0,0,0,0,0,26.20,26.15,26.23,10.37,48.34
$GC,313,-1.60,-438.8,1865,1930,3024,4094,30.9,-10.1,39,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1930,3024,3024,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,47.87
$GC,358,-1.60,-438.8,1865,1930,3026,4095,35.7,-10.6,45,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1930,3025,3025,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.35,47.12
$GC,404,-1.60,-438.8,1865,1930,3026,4094,40.5,-10.6,51,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1930,3025,3025,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.34,46.41
$GC,450,-1.60,-438.8,1864,1930,3027,4095,45.3,-10.5,57,459,0.00,2.28,0.00,0.000,260,0.000,0.057,1864,2766,3028,3028,4094,0,0,0,0,0,0,26.51,26.20,26.52,10.34,46.88
$GC,475,-1.60,-438.8,1865,2766,3028,4094,48.2,-10.5,60,485,0.00,2.17,0.00,0.000,1030,0.000,0.032,1865,1915,3028,3028,4094,0,0,0,0,0,0,26.29,26.25,26.31,10.33,46.18
$GC,522,-1.60,-438.8,1865,1915,3029,4094,52.9,-10.2,66,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1915,3029,3029,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.33,45.82
$GC,568,-1.60,-438.8,1864,1914,3030,4094,58.2,-11.5,72,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1915,3030,3030,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.32,46.25
$STATE,582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,582,begin apogee
$GC,588,-0.45,0.0,1865,2051,3031,4095,60.0,-10.5,74,624,3.70,0.05,25.62,1.281,10244,0.060,0.057,2204,2011,2500,2500,4094,0,0,0,0,0,0,26.26,25.25,24.61,10.32,45.58
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,627,1.60,438.8,2204,2010,2500,4094,62.5,0.0,78,664,7.03,0.00,25.23,1.258,11270,0.039,0.000,2859,2011,1988,1988,4094,0,0,0,0,0,0,25.67,25.84,24.09,10.20,45.39
$GC,701,1.60,438.8,2859,2010,1987,4094,57.4,10.4,87,709,0.00,2.38,0.00,0.000,516,0.000,0.069,2859,1168,1986,1986,4094,0,0,0,0,0,0,25.55,25.24,25.56,10.09,44.25
$GC,747,1.60,438.8,2858,1168,1986,4094,52.1,11.5,93,756,0.00,2.10,0.00,0.000,1030,0.000,0.029,2859,1990,1985,1985,4094,0,0,0,0,0,0,25.52,25.48,25.56,10.08,44.68
$GC,793,1.60,438.8,2859,1990,1985,4094,47.0,10.9,99,802,0.00,2.47,0.00,0.000,260,0.000,0.060,2859,2883,1984,1984,4094,0,0,0,0,0,0,25.84,25.52,25.85,10.09,44.29
$GC,864,1.60,438.8,2859,2882,1983,4094,38.2,12.6,109,873,0.00,2.22,0.00,0.000,1030,0.000,0.031,2860,2031,1983,1983,4094,0,0,0,0,0,0,25.75,25.71,25.81,10.08,45.03
$GC,911,1.60,438.8,2859,2030,1982,4094,32.9,11.5,115,920,0.00,2.42,0.00,0.000,516,0.000,0.070,2859,1150,1981,1981,4095,0,0,0,0,0,0,26.04,25.70,26.06,10.07,45.11
$GC,982,1.60,438.8,2859,1150,1980,4095,24.5,11.6,125,991,0.00,2.20,0.00,0.000,1030,0.000,0.031,2860,2016,1979,1979,4094,0,0,0,0,0,0,25.91,25.87,25.92,10.07,45.27
$GC,1028,1.60,438.8,2859,2016,1978,4094,19.4,11.4,131,1037,0.00,2.38,0.00,0.000,260,0.000,0.063,2859,2885,1978,1978,4094,0,0,0,0,0,0,26.17,25.85,26.19,10.06,45.39
$GC,1112,1.60,438.8,2859,2884,1976,4094,10.4,10.3,143,1121,0.00,2.28,0.00,0.000,1030,0.000,0.031,2860,2002,1976,1976,4094,0,0,0,0,0,0,26.01,25.97,26.05,10.13,47.95
$GC,1157,1.60,438.8,2859,2002,1975,4094,6.0,9.4,149,1167,0.00,2.33,0.00,0.000,516,0.000,0.070,2860,1150,1975,1975,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.16,48.46
$STATE,1200,end climb,SURFACE_DEPTH_REACHED
$STATE,1200,begin surface coast
$FINISH,0.1,1.008325
$STATE,1222,end surface coast,CONTROL_FINISHED_OK
$STATE,1222,begin surface
$SM_CCo,1320,0.00,0.000,0,0,1973,453.34
$SM_GC,0.98,27.62,1.92,0.00,0.023,0.031,0.000,231,1930,1973,-6.65,-1.09,453.34,0,0,0,0,0,0,25.98,26.10,26.09
$IRIDIUM_FIX,5957.10,-16911.74,290717,045411
$TT8_MAMPS,0.025466,0.237433
$HUMID,50.55
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.09,3.604
$10V_AH,10.26,5.188
$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,43.525,36.800,50.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,458.431,60.329,157.655,658.356,45.323,33.415,420.183,0.000,382.781,0.000,0.540,0.000
$DEVICE_MAMPS,59.670,69.615,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.246,429.205,339.918,503.950,655.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,14400,158
$CAP_FILE_SIZE,34388,0
$CFSIZE,1024409600,1012416512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,061013,5930.982,-17053.730,4,0.8,15,8.4,0.0,56.2,11,4.8