version: 66.13
glider: 401
mission: 22
dive: 287
start: 7 31 117 18 8 21
data:
$ID,401
$MISSION,22
$DIVE,287
$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,18
$R_STBD_OVSHOOT,41
$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
$GPS1,310717,174451,5946.9951,-17129.1602,10,0.7,12,8.1,0.5,247.4,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-4.5
$GPS2,310717,174451,5946.9951,-17129.1602,10,0.7,12,8.1,0.5,247.4,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.309313,0.139891
$KALMAN_X,36645.796875,-1844.150146,-617.815613,-94474.601562,-107.493713
$KALMAN_Y,14969.127930,1364.598877,26.789478,42314.773438,-28.710236
$MHEAD_RNG_PITCHd_Wd,286.2,73318,-11.3,-9.091,-14.99,6422
$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,-389.9,2409,1919,2395,4092,0.0,0.0,0,18,5.85,0.00,-2.10,0.000,20482,0.028,0.000,1844,1919,2626,2626,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.34,49.52
$GC,20,-1.61,-389.9,1843,1919,2626,4094,0.1,0.0,1,31,0.00,2.55,-3.03,0.000,16900,0.000,1.293,1843,1032,2959,2959,4094,0,0,0,0,0,0,26.26,24.94,26.27,10.38,49.96
$GC,80,-1.61,-389.9,1843,1032,2961,4094,4.8,-12.6,11,87,0.00,2.12,0.00,0.000,1030,0.000,0.031,1844,1891,2960,2960,4095,0,0,0,0,0,0,26.00,25.93,26.02,10.46,49.88
$GC,118,-1.61,-389.9,1843,1892,2961,4095,9.6,-12.5,17,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1892,2961,2961,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.46,49.80
$GC,153,-1.61,-389.9,1842,1892,2962,4095,14.3,-13.0,23,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1892,2962,2962,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.47,49.21
$GC,189,-1.61,-389.9,1843,1892,2963,4094,19.0,-12.8,29,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1892,2964,2964,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.47,48.81
$GC,225,-1.61,-389.9,1843,1893,2964,4094,23.6,-12.3,35,232,0.00,2.30,0.00,0.000,260,0.000,0.055,1843,2759,2964,2964,4094,0,0,0,0,0,0,26.32,25.99,26.32,10.46,48.97
$GC,274,-1.61,-389.9,1843,2758,2965,4094,28.9,-10.9,43,281,0.00,2.15,0.00,0.000,1030,0.000,0.030,1843,1905,2965,2965,4094,0,0,0,0,0,0,26.15,26.08,26.18,10.43,48.70
$GC,312,-1.61,-389.9,1843,1905,2965,4094,32.7,-9.6,49,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2966,2966,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.41,47.67
$GC,348,-1.61,-389.9,1843,1905,2966,4094,36.3,-10.0,55,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2966,2966,4095,0,0,0,0,0,0,26.40,26.41,26.40,10.38,47.59
$GC,384,-1.61,-389.9,1843,1905,2967,4095,40.1,-10.5,61,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2966,2966,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,46.96
$GC,420,-1.61,-389.9,1843,1905,2968,4094,44.0,-10.6,67,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2968,2968,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.37,46.10
$GC,456,-1.61,-389.9,1843,1905,2968,4095,47.8,-10.5,73,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2969,2969,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.36,46.02
$GC,492,-1.61,-389.9,1842,1905,2969,4094,51.7,-10.7,79,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1905,2969,2969,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,45.43
$GC,528,-1.61,-389.9,1842,1904,2970,4095,55.6,-10.9,85,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2970,2970,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.35,45.07
$GC,564,-1.61,-389.9,1843,1904,2970,4095,59.6,-11.4,91,570,0.00,2.28,0.00,0.000,260,0.000,0.054,1843,2759,2971,2971,4094,0,0,0,0,0,0,26.51,26.18,26.51,10.35,45.07
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,582,-0.45,0.0,1843,2011,2971,4094,61.0,-11.1,93,613,3.92,0.00,22.90,1.277,10244,0.059,0.000,2206,2011,2500,2500,4094,0,0,0,0,0,0,26.22,25.49,24.58,10.34,44.92
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.61,389.9,2205,2011,2500,4094,63.5,0.0,99,650,6.97,0.00,22.58,1.255,11270,0.038,0.000,2862,2011,2045,2045,4094,0,0,0,0,0,0,25.70,25.86,24.13,10.24,44.76
$GC,681,1.61,389.9,2861,2011,2044,4094,59.0,10.4,110,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2011,2044,2044,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.14,44.21
$GC,717,1.61,389.9,2861,2011,2043,4094,54.7,11.8,116,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2043,2043,4095,0,0,0,0,0,0,25.73,25.75,25.75,10.13,43.77
$GC,753,1.61,389.9,2861,2011,2042,4095,50.3,12.0,122,759,0.00,2.40,0.00,0.000,260,0.000,0.056,2861,2880,2042,2042,4094,0,0,0,0,0,0,25.84,25.53,25.85,10.13,44.76
$GC,801,1.61,389.9,2861,2880,2041,4094,44.0,12.9,130,808,0.00,2.20,0.00,0.000,1030,0.000,0.030,2861,2026,2041,2041,4094,0,0,0,0,0,0,25.76,25.69,25.78,10.12,44.44
$GC,839,1.61,389.9,2861,2026,2040,4094,39.4,12.2,136,845,0.00,2.35,0.00,0.000,516,0.000,0.067,2861,1154,2040,2040,4094,0,0,0,0,0,0,26.01,25.67,26.02,10.12,45.47
$GC,893,1.61,389.9,2861,1154,2038,4094,32.6,12.4,145,900,0.00,2.10,0.00,0.000,1030,0.000,0.028,2861,1997,2038,2038,4094,0,0,0,0,0,0,25.91,25.84,25.93,10.12,45.74
$GC,930,1.61,389.9,2861,1996,2037,4094,28.3,11.9,151,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2037,2037,4095,0,0,0,0,0,0,26.13,26.15,26.15,10.11,45.43
$GC,966,1.61,389.9,2861,1997,2037,4095,24.3,10.7,157,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.13,45.62
$GC,1002,1.61,389.9,2861,1996,2035,4094,20.7,9.8,163,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1996,2035,2035,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.16,46.61
$GC,1038,1.61,389.9,2861,1997,2035,4094,17.3,9.2,169,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2035,2035,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.17,48.03
$GC,1075,1.61,389.9,2861,1998,2034,4094,13.8,9.6,175,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1998,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.20,48.58
$GC,1111,1.61,389.9,2861,1998,2033,4094,10.2,9.6,181,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1998,2033,2033,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.21,49.44
$GC,1147,1.61,389.9,2861,1998,2032,4094,6.7,10.0,187,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1998,2032,2032,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.21,49.76
$GC,1183,1.61,389.9,2861,1998,2031,4094,3.0,10.6,193,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1998,2030,2030,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.22,50.78
$STATE,1193,end climb,FINISH_DEPTH_REACHED
$STATE,1193,begin subsurface finish
$FINISH1,1.9,1.025600,0
$GC,1198,0.00,0.0,2861,1998,2031,4094,1.9,10.3,195,1215,5.45,2.38,-3.65,0.000,20996,0.070,1.303,2370,1154,2507,2507,4094,0,0,0,0,0,0,26.07,25.01,26.11,10.23,50.23
$FINISH2,0.6
$STATE,1216,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1217,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,162420
$TT8_MAMPS,0.025466,0.085386
$HUMID,50.43
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.13,6.978
$10V_AH,10.53,8.739
$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,22.200,26.625,45.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.146,341.483,154.383,297.496,42.754,33.430,378.860,0.000,295.247,0.000,0.542,0.000
$DEVICE_MAMPS,70.380,1302.795,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,330936
$DATA_FILE_SIZE,14229,198
$CAP_FILE_SIZE,36975,0
$CFSIZE,1024409600,1005387776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,174451,5946.995,-17129.160,10,0.7,12,8.1,0.5,247.4,11,5.0