version: 66.13
glider: 401
mission: 22
dive: 276
start: 7 31 117 13 27 36
data:
$ID,401
$MISSION,22
$DIVE,276
$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,43
$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
$GPS1,310717,124203,5947.3657,-17124.5977,9,0.8,20,8.2,0.0,58.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-3.0
$GPS2,310717,124203,5947.3657,-17124.5977,9,0.8,20,8.2,0.0,58.6,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.308866,-0.140572
$KALMAN_X,36479.812500,-1736.777954,-484.109955,-90223.398438,201.133209
$KALMAN_Y,15683.520508,1908.774902,398.934448,41363.667969,60.122559
$MHEAD_RNG_PITCHd_Wd,237.3,2631,-11.3,-9.091,-15.00,6416
$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,-389.5,2366,1875,2507,4092,0.0,0.0,0,20,5.35,0.00,-4.15,0.000,20486,0.024,0.000,1847,1875,2960,2960,4094,0,0,0,0,0,0,26.21,25.31,26.23,10.34,51.69
$GC,22,-1.61,-389.5,1847,1875,2960,4094,0.2,0.0,1,31,0.00,2.22,0.00,0.000,516,0.000,0.067,1847,1059,2959,2959,4094,0,0,0,0,0,0,26.39,26.08,26.40,10.44,51.37
$GC,119,-1.61,-389.5,1847,1059,2960,4094,3.6,-11.5,15,128,0.00,2.10,0.00,0.000,1030,0.000,0.031,1847,1902,2961,2961,4095,0,0,0,0,0,0,26.23,26.21,26.27,10.44,51.06
$GC,164,-1.61,-389.5,1847,1902,2961,4095,9.1,-11.8,21,172,0.00,2.30,0.00,0.000,260,0.000,0.058,1847,2759,2962,2962,4094,0,0,0,0,0,0,26.48,26.16,26.49,10.44,51.14
$GC,215,-1.61,-389.5,1847,2759,2963,4094,15.6,-12.5,28,223,0.00,2.12,0.00,0.000,1030,0.000,0.031,1847,1926,2963,2963,4094,0,0,0,0,0,0,26.29,26.25,26.29,10.45,50.51
$GC,261,-1.61,-389.5,1847,1926,2964,4094,21.5,-12.5,34,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1926,2964,2964,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,50.23
$GC,306,-1.61,-389.5,1847,1926,2966,4095,26.3,-10.5,40,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2965,2965,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.41,50.51
$GC,352,-1.61,-389.5,1847,1926,2966,4094,31.0,-9.8,46,362,0.00,2.40,0.00,0.000,516,0.000,0.069,1847,1037,2966,2966,4095,0,0,0,0,0,0,26.55,26.21,26.56,10.39,48.70
$GC,423,-1.61,-389.5,1847,1037,2967,4095,38.7,-11.0,56,433,0.00,2.17,0.00,0.000,1030,0.000,0.031,1847,1917,2967,2967,4095,0,0,0,0,0,0,26.36,26.32,26.38,10.37,48.07
$GC,470,-1.61,-389.5,1846,1917,2968,4095,43.5,-10.7,62,480,0.00,2.25,0.00,0.000,260,0.000,0.056,1848,2760,2968,2968,4095,0,0,0,0,0,0,26.59,26.27,26.60,10.35,46.81
$GC,528,-1.61,-389.5,1847,2760,2969,4095,49.9,-10.8,70,538,0.00,2.12,0.00,0.000,1030,0.000,0.031,1847,1920,2969,2969,4094,0,0,0,0,0,0,26.38,26.33,26.41,10.35,45.98
$GC,575,-1.61,-389.5,1846,1919,2970,4094,54.7,-10.8,76,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1920,2970,2970,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.33,45.98
$GC,619,-1.61,-389.5,1847,1919,2971,4094,59.8,-11.0,82,627,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1920,2971,2971,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.33,45.51
$STATE,635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,635,begin apogee
$GC,640,-0.45,0.0,1847,2041,2971,4094,61.8,-10.8,84,676,3.90,0.00,22.92,1.291,10244,0.060,0.000,2205,2041,2500,2500,4094,0,0,0,0,0,0,26.35,25.38,24.70,10.33,45.58
$STATE,677,end apogee,CONTROL_FINISHED_OK
$STATE,677,begin climb
$GC,679,1.61,389.5,2205,2041,2500,4094,64.1,0.0,88,715,6.97,0.00,22.55,1.268,11270,0.036,0.000,2864,2041,2045,2045,4094,0,0,0,0,0,0,25.82,25.98,24.22,10.22,45.39
$GC,752,1.61,389.5,2863,2041,2045,4094,58.9,10.9,97,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2044,2044,4095,0,0,0,0,0,0,25.70,25.71,25.70,10.13,43.89
$GC,798,1.61,389.5,2863,2041,2043,4095,53.5,11.8,103,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2043,2043,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.12,43.93
$GC,844,1.61,389.5,2863,2041,2042,4094,48.0,11.8,109,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2042,2042,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.12,44.13
$GC,890,1.61,389.5,2863,2041,2041,4094,42.5,12.1,115,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2041,2041,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.11,44.64
$GC,935,1.61,389.5,2862,2041,2039,4094,37.0,11.9,121,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2040,2040,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,44.68
$GC,981,1.61,389.5,2863,2041,2038,4094,31.5,12.1,127,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2041,2038,2038,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.10,44.84
$GC,1024,1.61,389.5,2863,2041,2037,4095,26.1,12.0,133,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2041,2037,2037,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.10,45.35
$GC,1069,1.61,389.5,2863,2041,2036,4094,21.4,10.3,139,1078,0.00,2.45,0.00,0.000,516,0.000,0.067,2864,1154,2036,2036,4094,0,0,0,0,0,0,26.24,25.90,26.25,10.12,45.70
$GC,1120,1.61,389.5,2863,1154,2035,4094,16.1,10.2,146,1130,0.00,2.10,0.00,0.000,1030,0.000,0.029,2863,1992,2034,2034,4095,0,0,0,0,0,0,26.07,26.04,26.09,10.16,46.73
$GC,1166,1.61,389.5,2863,1991,2034,4095,11.7,9.4,152,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1991,2034,2034,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.18,48.14
$GC,1210,1.61,389.5,2863,1991,2033,4094,7.5,9.8,158,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1992,2033,2033,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.20,49.37
$GC,1256,1.61,389.5,2863,1992,2031,4094,2.9,10.1,164,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1993,2031,2031,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.20,49.40
$STATE,1272,end climb,SURFACE_DEPTH_REACHED
$STATE,1272,begin surface coast
$FINISH,0.1,1.015826
$STATE,1293,end surface coast,CONTROL_FINISHED_OK
$STATE,1294,begin surface
$SM_CCo,1390,0.00,0.000,0,0,2030,404.40
$SM_GC,0.98,27.58,0.25,0.00,0.024,0.056,0.000,231,1882,2030,-6.65,0.96,404.40,0,0,0,0,0,0,26.07,26.20,26.17
$IRIDIUM_FIX,5955.74,-17228.01,310717,112039
$TT8_MAMPS,0.026215,0.244923
$HUMID,50.03
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.22,6.714
$10V_AH,10.23,8.479
$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,43.800,23.000,45.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.209,60.082,158.710,706.946,47.639,33.421,432.931,0.000,407.927,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,68.850,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.688,459.118,363.355,538.771,703.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330996
$DATA_FILE_SIZE,14319,169
$CAP_FILE_SIZE,34190,0
$CFSIZE,1024409600,1005928448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,135151,5947.125,-17125.154,8,1.1,31,8.2,0.4,123.1,10,5.0