version: 66.13
glider: 401
mission: 22
dive: 241
start: 7 30 117 22 55 44
data:
$ID,401
$MISSION,22
$DIVE,241
$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,400
$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,19
$R_STBD_OVSHOOT,26
$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
$GPS1,300717,224805,5945.7290,-17116.6758,5,0.9,20,8.2,0.6,57.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-45.8
$GPS2,300717,225437,5945.7808,-17116.5664,10,0.8,25,8.2,0.0,42.7,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.328495,-0.085852
$KALMAN_X,30708.501953,-1907.583740,-833.965515,-76322.960938,189.141846
$KALMAN_Y,10195.347656,2363.605225,886.556152,42961.277344,152.189575
$MHEAD_RNG_PITCHd_Wd,247.2,9850,-11.3,-9.091,-14.99,6424
$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,-1.61,-390.0,231,1898,2035,4092,0.0,0.0,0,17,7.57,0.00,0.00,0.000,2049,0.111,0.000,854,1895,2035,2035,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.27,49.13
$GC,19,-1.61,-390.0,853,1895,2036,4094,1.0,0.0,1,47,10.80,2.47,-8.35,0.000,18948,0.059,1.307,1834,1038,2959,2959,4095,0,0,0,0,0,0,25.89,24.84,25.94,10.27,49.96
$GC,133,-1.61,-390.0,1834,1038,2962,4095,10.3,-13.7,20,139,0.00,2.15,0.00,0.000,1030,0.000,0.028,1834,1908,2961,2961,4095,0,0,0,0,0,0,25.97,25.90,25.99,10.48,49.13
$GC,170,-1.61,-390.0,1834,1908,2962,4095,15.2,-12.9,26,176,0.00,2.28,0.00,0.000,260,0.000,0.056,1834,2759,2962,2962,4094,0,0,0,0,0,0,26.20,25.87,26.20,10.48,48.11
$GC,219,-1.61,-390.0,1834,2758,2964,4094,21.6,-12.7,34,225,0.00,2.17,0.00,0.000,1030,0.000,0.031,1835,1903,2964,2964,4094,0,0,0,0,0,0,26.05,25.97,26.07,10.47,48.26
$GC,256,-1.61,-390.0,1834,1902,2963,4094,25.6,-10.7,40,262,0.00,2.35,0.00,0.000,516,0.000,0.069,1835,1033,2964,2964,4094,0,0,0,0,0,0,26.27,25.92,26.27,10.43,47.32
$GC,318,-1.61,-390.0,1834,1032,2965,4094,32.6,-11.9,50,324,0.00,2.12,0.00,0.000,1030,0.000,0.029,1835,1897,2965,2965,4094,0,0,0,0,0,0,26.13,26.06,26.15,10.38,46.29
$GC,357,-1.61,-390.0,1834,1898,2966,4094,37.0,-10.9,56,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2966,2966,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.38,45.70
$GC,393,-1.61,-390.0,1834,1898,2967,4094,41.2,-11.6,62,399,0.00,2.28,0.00,0.000,260,0.000,0.054,1835,2760,2967,2967,4095,0,0,0,0,0,0,26.36,26.04,26.37,10.37,44.95
$GC,437,-1.61,-390.0,1833,2760,2968,4095,46.2,-11.4,69,443,0.00,2.17,0.00,0.000,1030,0.000,0.030,1835,1897,2968,2968,4095,0,0,0,0,0,0,26.19,26.12,26.22,10.36,44.68
$GC,476,-1.61,-390.0,1834,1897,2969,4095,50.6,-11.3,75,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1897,2969,2969,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.35,44.05
$GC,512,-1.61,-390.0,1834,1897,2969,4095,54.9,-11.4,81,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1897,2969,2969,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.34,44.68
$GC,548,-1.61,-390.0,1834,1897,2970,4095,59.1,-11.4,87,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1897,2970,2970,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.34,44.17
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,563,-0.45,0.0,1834,2039,2970,4095,60.4,-11.8,89,596,4.03,0.00,22.98,1.277,10244,0.060,0.000,2204,2040,2499,2499,4095,0,0,0,0,0,0,26.16,25.21,24.53,10.34,43.85
$STATE,597,end apogee,CONTROL_FINISHED_OK
$STATE,597,begin climb
$GC,599,1.61,390.0,2204,2039,2499,4095,62.6,0.0,95,633,7.00,0.00,22.62,1.255,11270,0.037,0.000,2861,2040,2045,2045,4094,0,0,0,0,0,0,25.65,25.81,24.08,10.23,44.01
$GC,664,1.61,390.0,2860,2039,2044,4094,57.9,10.8,106,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2044,2044,4094,0,0,0,0,0,0,25.54,25.55,25.55,10.13,43.26
$GC,700,1.61,390.0,2860,2039,2043,4094,53.7,11.8,112,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2043,2043,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.13,43.03
$GC,736,1.61,390.0,2860,2039,2042,4094,49.5,11.8,118,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2042,2042,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.12,44.13
$GC,772,1.61,390.0,2860,2040,2041,4094,45.3,11.8,124,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2041,2041,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.11,43.69
$GC,808,1.61,390.0,2860,2039,2040,4094,41.2,11.7,130,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2040,2040,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.11,44.01
$GC,844,1.61,390.0,2860,2039,2039,4094,37.1,11.7,136,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2039,2039,4094,0,0,0,0,0,0,26.01,26.01,26.01,10.11,44.21
$GC,880,1.61,390.0,2860,2039,2039,4094,33.0,11.1,142,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2038,2038,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.11,44.40
$GC,916,1.61,390.0,2860,2039,2037,4094,28.9,11.3,148,922,0.00,2.42,0.00,0.000,516,0.000,0.066,2861,1156,2037,2037,4094,0,0,0,0,0,0,26.10,25.77,26.11,10.10,44.64
$GC,953,1.61,390.0,2860,1155,2036,4094,24.5,11.7,154,959,0.00,2.08,0.00,0.000,1030,0.000,0.028,2861,1991,2036,2036,4094,0,0,0,0,0,0,25.96,25.90,25.98,10.10,44.76
$GC,990,1.61,390.0,2860,1990,2035,4094,20.5,10.3,160,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1990,2035,2035,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.11,45.31
$GC,1026,1.61,390.0,2860,1991,2035,4094,17.0,9.4,166,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1992,2034,2034,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.15,46.53
$GC,1062,1.61,390.0,2860,1991,2034,4094,13.6,9.4,172,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1992,2033,2033,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.17,48.11
$GC,1098,1.61,390.0,2860,1993,2033,4094,10.2,9.6,178,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2033,2033,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.18,48.62
$GC,1134,1.61,390.0,2860,1993,2032,4094,6.4,10.6,184,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2032,2032,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.20,48.93
$GC,1171,1.61,390.0,2860,1993,2031,4094,2.9,9.9,190,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2031,2031,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.20,49.40
$STATE,1181,end climb,FINISH_DEPTH_REACHED
$STATE,1181,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1186,0.00,0.0,2860,1994,2030,4094,1.7,9.2,192,1198,5.50,0.00,-3.83,0.000,20486,0.072,0.000,2368,1996,2509,2509,4095,0,0,0,0,0,0,26.06,25.25,26.09,10.21,49.60
$FINISH2,0.5
$STATE,1199,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1199,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,213504
$TT8_MAMPS,0.025466,0.083888
$HUMID,50.31
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.08,5.937
$10V_AH,10.55,7.600
$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,34.900,22.800,45.600,0.000,0.000,22.566,21.615,226.653,0.000,0.000,26.546,442.350,336.897,154.437,591.669,89.102,33.454,379.646,0.000,291.427,0.000,0.541,0.000
$DEVICE_MAMPS,110.925,1307.385,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329412
$DATA_FILE_SIZE,14292,194
$CAP_FILE_SIZE,40593,0
$CFSIZE,1024409600,1007648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300717,225437,5945.781,-17116.566,10,0.8,25,8.2,0.0,42.7,10,4.8