version: 66.13
glider: 401
mission: 22
dive: 252
start: 7 31 117 3 26 20
data:
$ID,401
$MISSION,22
$DIVE,252
$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,20
$R_STBD_OVSHOOT,31
$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
$GPS1,310717,024047,5946.3350,-17117.0449,6,0.7,20,8.2,0.3,92.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,0.1
$GPS2,310717,024047,5946.3350,-17117.0449,6,0.7,20,8.2,0.3,92.8,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338296,0.030001
$KALMAN_X,33805.410156,-1491.898682,-318.806396,-80809.835938,193.309692
$KALMAN_Y,11725.958008,2289.088867,667.375610,42767.187500,-25.420166
$MHEAD_RNG_PITCHd_Wd,266.9,9295,-11.3,-9.091,-14.99,6428
$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,-390.0,2370,1918,2506,4092,0.0,0.0,0,20,5.45,0.00,-2.75,0.000,20486,0.029,0.000,1843,1918,2964,2964,4095,0,0,0,0,0,0,26.09,25.19,26.11,10.33,50.86
$GC,23,-1.61,-390.0,1843,1918,2964,4095,2.1,0.0,1,32,0.00,2.28,0.00,0.000,260,0.000,0.056,1844,2751,2964,2964,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.43,51.02
$GC,126,-1.61,-390.0,1843,2751,2966,4094,13.7,-11.3,16,135,0.00,2.20,0.00,0.000,1030,0.000,0.031,1843,1896,2965,2965,4094,0,0,0,0,0,0,26.09,26.06,26.12,10.43,50.63
$GC,173,-1.61,-390.0,1843,1895,2967,4094,19.7,-14.0,22,182,0.00,2.35,0.00,0.000,516,0.000,0.070,1843,1034,2967,2967,4094,0,0,0,0,0,0,26.35,26.01,26.36,10.42,50.59
$GC,224,-1.61,-390.0,1843,1034,2968,4094,26.5,-12.1,29,233,0.00,2.12,0.00,0.000,1030,0.000,0.030,1844,1880,2968,2968,4094,0,0,0,0,0,0,26.17,26.14,26.18,10.39,50.07
$GC,269,-1.61,-390.0,1842,1881,2969,4094,31.3,-10.2,35,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1882,2969,2969,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.37,49.17
$GC,314,-1.61,-390.0,1843,1883,2970,4094,36.1,-11.2,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1883,2970,2970,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,47.55
$GC,360,-1.61,-390.0,1843,1883,2970,4094,40.9,-10.2,47,369,0.00,2.35,0.00,0.000,260,0.000,0.057,1843,2756,2970,2970,4095,0,0,0,0,0,0,26.45,26.13,26.46,10.35,47.00
$GC,406,-1.61,-390.0,1843,2757,2972,4095,45.7,-10.8,53,415,0.00,2.22,0.00,0.000,1030,0.000,0.031,1843,1886,2972,2972,4095,0,0,0,0,0,0,26.23,26.20,26.27,10.33,46.22
$GC,452,-1.61,-390.0,1843,1885,2973,4095,50.8,-11.1,59,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1886,2973,2973,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.32,45.66
$GC,498,-1.61,-390.0,1843,1885,2973,4095,55.9,-10.7,65,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1886,2974,2974,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.32,45.51
$STATE,534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,534,begin apogee
$GC,540,-0.45,0.0,1843,2041,2975,4094,60.2,-10.9,70,575,3.95,0.00,23.08,1.278,10244,0.060,0.000,2205,2042,2499,2499,4094,0,0,0,0,0,0,26.25,25.26,24.61,10.32,45.35
$STATE,576,end apogee,CONTROL_FINISHED_OK
$STATE,576,begin climb
$GC,578,1.61,390.0,2205,2041,2499,4094,62.4,0.0,74,614,7.00,0.00,22.65,1.255,11270,0.037,0.000,2863,2042,2045,2045,4094,0,0,0,0,0,0,25.72,25.88,24.15,10.21,44.95
$GC,651,1.61,390.0,2862,2041,2043,4094,57.5,10.3,83,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2044,2044,4095,0,0,0,0,0,0,25.63,25.64,25.64,10.11,44.13
$GC,697,1.61,390.0,2863,2041,2042,4095,51.9,12.2,89,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2041,2042,2042,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.10,44.64
$GC,743,1.61,390.0,2862,2041,2041,4094,46.6,11.4,95,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2041,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,44.36
$GC,786,1.61,390.0,2863,2041,2041,4094,41.4,11.8,101,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2040,2040,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.09,44.48
$GC,831,1.61,390.0,2863,2041,2039,4094,36.3,11.3,107,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.09,44.52
$GC,875,1.61,390.0,2863,2041,2038,4094,31.2,11.5,113,883,0.00,2.47,0.00,0.000,516,0.000,0.067,2863,1152,2038,2038,4094,0,0,0,0,0,0,26.10,25.76,26.11,10.09,45.47
$GC,945,1.61,390.0,2863,1151,2036,4094,22.7,11.3,123,954,0.00,2.12,0.00,0.000,1030,0.000,0.029,2863,1995,2036,2036,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.11,46.22
$GC,992,1.65,416.6,2863,1995,2035,4094,18.5,8.7,129,1001,0.00,2.40,2.88,0.300,8452,0.000,0.060,2863,2890,2012,2012,4094,0,0,0,0,0,0,26.22,25.67,25.22,10.13,46.10
$GC,1031,1.65,416.6,2863,2889,2012,4094,14.5,10.4,134,1040,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2030,2011,2011,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.15,47.20
$GC,1077,1.65,416.6,2862,2029,2011,4094,9.8,10.4,140,1087,0.00,2.40,0.00,0.000,516,0.000,0.069,2863,1151,2010,2010,4094,0,0,0,0,0,0,26.27,25.92,26.28,10.17,48.50
$GC,1142,1.65,416.6,2863,1151,2009,4094,2.7,10.2,149,1151,0.00,2.20,0.00,0.000,1030,0.000,0.031,2863,2024,2008,2008,4094,0,0,0,0,0,0,26.10,26.09,26.12,10.19,49.76
$STATE,1159,end climb,SURFACE_DEPTH_REACHED
$STATE,1159,begin surface coast
$FINISH,0.1,1.024219
$STATE,1181,end surface coast,CONTROL_FINISHED_OK
$STATE,1181,begin surface
$SM_CCo,1277,0.00,0.000,0,0,2007,424.15
$SM_GC,0.72,27.60,0.35,0.00,0.022,0.064,0.000,230,1901,2007,-6.65,1.00,424.15,0,0,0,0,0,0,25.97,26.06,26.10
$IRIDIUM_FIX,5955.74,-17228.01,310717,011843
$TT8_MAMPS,0.025466,0.26215
$HUMID,50.63
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.15,6.175
$10V_AH,10.23,7.881
$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,44.000,29.875,48.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.052,61.035,149.726,640.881,43.455,33.418,399.042,0.000,372.923,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,69.615,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.500,418.340,331.148,491.190,638.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330976
$DATA_FILE_SIZE,14333,154
$CAP_FILE_SIZE,32253,0
$CFSIZE,1024409600,1007124480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,034846,5946.361,-17117.887,5,0.8,35,8.2,0.0,177.0,10,5.0