version: 66.13
glider: 401
mission: 22
dive: 902
start: 8 12 117 3 57 50
data:
$ID,401
$MISSION,22
$DIVE,902
$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,19
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,2340
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$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
$GPS1,120817,033704,6111.6479,-17350.1328,5,0.7,50,7.0,0.9,233.4,12,7.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-2.2
$GPS2,120817,033704,6111.6479,-17350.1328,5,0.7,50,7.0,0.9,233.4,12,7.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.204838,0.234293
$KALMAN_X,69179.078125,-616.059326,-265.404755,-262043.218750,-190.324677
$KALMAN_Y,-47309.453125,1716.952271,333.289124,260713.453125,-83.018066
$MHEAD_RNG_PITCHd_Wd,34.2,24673,-15.7,-10.526,-18.69,3983
$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,9,-1.85,-276.9,2398,1946,2356,4092,0.0,0.0,0,20,6.50,0.00,-2.22,0.000,20482,0.019,0.000,1747,1946,2604,2604,4094,0,0,0,0,0,0,26.19,28.83,26.22,10.35,52.08
$GC,24,-1.85,-276.9,1746,1946,2605,4094,0.2,0.0,1,33,0.00,0.00,-1.67,0.000,16390,0.000,0.000,1747,1946,2799,2799,4094,0,0,0,0,0,0,26.38,25.62,26.36,10.40,52.04
$GC,70,-1.89,-302.8,1746,1946,2800,4094,3.7,-9.9,7,78,0.00,0.00,-0.20,0.000,16390,0.000,0.000,1746,1946,2848,2848,4095,0,0,0,0,0,0,26.28,25.46,26.10,10.45,51.96
$GC,115,-1.89,-302.8,1746,1946,2848,4095,9.2,-12.9,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,1946,2849,2849,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.46,51.96
$GC,160,-1.89,-302.8,1746,1946,2851,4095,16.3,-16.6,19,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,1946,2851,2851,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.47,51.41
$GC,205,-1.89,-302.8,1746,1946,2851,4095,22.4,-12.8,25,215,0.00,1.15,0.00,0.000,260,0.000,0.042,1746,2376,2852,2852,4094,0,0,0,0,0,0,26.28,26.01,26.29,10.45,51.02
$GC,238,-1.89,-302.8,1746,2376,2852,4094,26.5,-12.0,29,248,0.00,1.05,0.00,0.000,1030,0.000,0.029,1747,1954,2852,2852,4095,0,0,0,0,0,0,26.08,26.04,26.10,10.41,51.37
$GC,285,-1.89,-302.8,1746,1953,2853,4095,32.1,-11.6,35,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,1954,2853,2853,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.39,49.80
$GC,331,-1.89,-302.8,1746,1953,2854,4094,38.3,-13.4,41,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,1954,2855,2855,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.37,48.66
$GC,376,-1.89,-302.8,1746,1954,2855,4094,44.4,-13.5,47,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,1954,2856,2856,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.36,47.24
$GC,422,-1.89,-302.8,1746,1954,2857,4094,50.4,-13.0,53,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,1954,2857,2857,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.35,46.96
$GC,467,-1.89,-302.8,1745,1954,2857,4095,56.2,-12.9,59,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,1954,2858,2858,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.34,45.94
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,505,-0.45,0.0,1746,2148,2859,4094,60.5,-12.9,63,532,4.75,0.00,18.70,1.252,10244,0.063,0.000,2185,2148,2484,2484,4094,0,0,0,0,0,0,26.18,25.57,24.53,10.33,46.69
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,536,1.89,302.8,2185,2148,2484,4094,63.3,0.0,66,572,7.72,1.08,17.88,1.233,10500,0.032,0.050,2933,2551,2132,2132,4094,0,0,0,0,0,0,25.75,25.71,24.20,10.25,45.43
$GC,589,1.89,302.8,2933,2551,2132,4094,59.7,11.4,72,599,0.00,1.08,0.00,0.000,1030,0.000,0.024,2934,2124,2132,2132,4094,0,0,0,0,0,0,25.54,25.52,25.56,10.17,45.07
$GC,637,1.89,302.8,2933,2124,2130,4094,52.9,15.1,78,646,0.00,1.05,0.00,0.000,516,0.000,0.046,2933,1722,2130,2130,4094,0,0,0,0,0,0,25.90,25.62,25.91,10.16,44.68
$GC,800,1.89,302.8,2933,1721,2125,4094,29.2,13.4,102,809,0.00,0.98,0.00,0.000,1030,0.000,0.028,2933,2125,2125,2125,4094,0,0,0,0,0,0,25.98,25.97,26.00,10.15,46.22
$GC,846,1.89,302.8,2933,2125,2123,4094,22.9,14.3,108,855,0.00,1.17,0.00,0.000,260,0.000,0.051,2933,2563,2123,2123,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.15,46.61
$GC,1039,1.96,350.4,2933,2563,2119,4094,2.5,9.3,136,1049,0.00,1.20,3.78,0.350,9222,0.000,0.027,2934,2081,2073,2073,4094,0,0,0,0,0,0,26.20,26.15,25.34,10.26,51.41
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,0.4,1.024012,111
$GC,1066,0.17,110.7,2933,2153,2072,4094,0.4,9.2,138,1085,5.28,1.17,-2.30,0.000,20740,0.021,1.299,2405,2559,2363,2363,4094,0,0,0,0,0,0,26.18,24.83,26.22,10.26,52.63
$FINISH2,0.6
$STATE,1086,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,032721
$TT8_MAMPS,0.026215,0.235186
$HUMID,51.96
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.20,24.629
$10V_AH,10.19,27.921
$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,24.250,11.050,40.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,392.520,0.000,105.638,584.675,61.924,33.428,325.105,0.000,342.137,0.000,0.542,0.000
$DEVICE_MAMPS,62.730,1298.970,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.956,380.364,301.036,446.329,582.012,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330844
$DATA_FILE_SIZE,14261,140
$CAP_FILE_SIZE,26154,0
$CFSIZE,1024409600,975175680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,033704,6111.648,-17350.133,5,0.7,50,7.0,0.9,233.4,12,7.5