version: 66.13
glider: 401
mission: 22
dive: 1062
start: 8 14 117 23 4 27
data:
$ID,401
$MISSION,22
$DIVE,1062
$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,20
$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
$GPS1,140817,221935,6141.5610,-17353.2188,7,0.7,15,7.0,0.0,112.6,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.9
$GPS2,140817,221935,6141.5610,-17353.2188,7,0.7,15,7.0,0.0,112.6,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.182196,0.331798
$KALMAN_X,57057.472656,-792.798706,-265.828339,-252663.562500,-38.372757
$KALMAN_Y,-76036.015625,2698.377930,998.568970,343196.343750,-22.659546
$MHEAD_RNG_PITCHd_Wd,21.8,4168,-12.2,-10.526,-15.54,6294
$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,-1.77,-440.7,2400,1957,2349,4092,0.0,0.0,0,21,6.38,0.00,-3.47,0.000,20482,0.021,0.000,1775,1958,2721,2721,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.30,53.15
$GC,25,-1.77,-440.7,1775,1957,2722,4094,0.2,0.0,1,34,0.00,1.17,-2.67,0.000,16900,0.000,1.278,1775,1516,3003,3003,4095,0,0,0,0,0,0,26.30,24.71,26.29,10.38,54.21
$GC,51,-1.77,-440.7,1774,1516,3004,4095,1.1,-2.4,4,61,0.00,1.05,0.00,0.000,1030,0.000,0.027,1774,1968,3004,3004,4095,0,0,0,0,0,0,26.03,26.01,26.04,10.44,53.85
$GC,99,-1.77,-440.7,1774,1968,3005,4095,7.6,-15.8,10,108,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1969,3005,3005,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.45,53.15
$GC,146,-1.77,-440.7,1774,1969,3007,4095,15.7,-17.3,16,155,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1969,3007,3007,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.45,53.03
$GC,193,-1.77,-440.7,1774,1968,3008,4095,23.8,-17.0,22,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1968,3009,3009,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.45,52.59
$GC,241,-1.77,-440.7,1774,1969,3008,4094,29.7,-12.5,28,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1968,3009,3009,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.40,52.24
$GC,287,-1.77,-440.7,1774,1968,3010,4095,35.2,-12.0,34,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1969,3010,3010,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.38,51.02
$GC,334,-1.77,-440.7,1774,1968,3012,4095,40.8,-11.9,40,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1969,3012,3012,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,49.44
$GC,381,-1.77,-440.7,1774,1968,3013,4095,46.8,-12.8,46,391,0.00,1.17,0.00,0.000,516,0.000,0.050,1775,1516,3014,3014,4094,0,0,0,0,0,0,26.47,26.15,26.48,10.35,48.62
$GC,421,-1.77,-440.7,1774,1516,3014,4094,52.3,-13.4,51,430,0.00,0.98,0.00,0.000,1030,0.000,0.027,1774,1936,3014,3014,4094,0,0,0,0,0,0,26.28,26.26,26.30,10.34,47.71
$GC,467,-1.77,-440.7,1773,1936,3015,4094,58.2,-13.0,57,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1936,3015,3015,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.33,47.44
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,491,-0.45,0.0,1774,2146,3015,4095,60.8,-13.0,59,526,4.43,0.00,25.92,1.305,10244,0.056,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.22,25.39,24.33,10.32,47.95
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,531,1.77,440.7,2186,2146,2484,4094,63.8,0.0,63,567,7.47,0.00,25.52,1.278,11270,0.031,0.000,2890,2147,1969,1969,4094,0,0,0,0,0,0,25.65,25.80,23.92,10.21,46.81
$GC,606,1.77,440.7,2889,2146,1968,4094,58.2,11.4,72,616,0.00,1.20,0.00,0.000,516,0.000,0.045,2890,1703,1968,1968,4094,0,0,0,0,0,0,25.62,25.34,25.63,10.09,45.90
$GC,692,1.77,440.7,2890,1702,1966,4094,47.2,12.6,84,701,0.00,0.98,0.00,0.000,1030,0.000,0.029,2890,2101,1966,1966,4094,0,0,0,0,0,0,25.69,25.65,25.72,10.08,46.29
$GC,738,1.77,440.7,2890,2101,1965,4094,41.3,12.8,90,748,0.00,1.27,0.00,0.000,260,0.000,0.053,2890,2569,1964,1964,4094,0,0,0,0,0,0,26.00,25.69,26.01,10.08,46.33
$GC,772,1.77,440.7,2890,2569,1964,4094,37.0,12.7,94,781,0.00,1.23,0.00,0.000,1030,0.000,0.027,2890,2087,1964,1964,4094,0,0,0,0,0,0,25.84,25.84,25.86,10.07,46.85
$GC,818,1.77,440.7,2890,2086,1962,4094,31.0,12.5,100,828,0.00,0.98,0.00,0.000,516,0.000,0.050,2890,1708,1962,1962,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.07,47.28
$GC,924,1.92,542.4,2890,1708,1960,4094,19.2,8.9,115,935,0.38,0.90,6.60,0.649,11270,0.036,0.028,2933,2086,1851,1851,4094,0,0,0,0,0,0,26.03,25.98,24.91,10.13,49.52
$GC,974,2.00,594.5,2933,2085,1850,4094,14.6,9.7,121,985,0.25,1.30,4.47,0.493,10500,0.045,0.051,2969,2571,1789,1789,4095,0,0,0,0,0,0,26.00,25.78,24.96,10.13,50.43
$GC,1009,2.00,594.5,2968,2570,1788,4095,10.4,11.2,125,1019,0.00,1.33,0.00,0.000,1030,0.000,0.029,2969,2053,1788,1788,4094,0,0,0,0,0,0,25.96,25.92,25.99,10.13,52.08
$GC,1055,2.00,594.5,2968,2052,1787,4094,5.0,12.5,131,1064,0.00,0.90,0.00,0.000,516,0.000,0.053,2968,1703,1787,1787,4095,0,0,0,0,0,0,26.24,25.94,26.25,10.15,51.69
$STATE,1080,end climb,SURFACE_DEPTH_REACHED
$STATE,1080,begin surface coast
$FINISH,0.1,1.001526
$STATE,1095,end surface coast,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$SM_CCo,1197,0.00,0.000,0,0,1785,601.02
$SM_GC,0.98,28.60,0.62,0.00,0.018,0.030,0.000,229,1984,1785,-6.59,-0.91,601.02,0,0,0,0,0,0,25.95,26.08,26.06
$IRIDIUM_FIX,6149.06,-17422.35,140817,220642
$TT8_MAMPS,0.025466,0.252413
$HUMID,52.95
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.92,29.536
$10V_AH,10.14,31.913
$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,47.500,17.175,62.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,404.735,60.980,148.508,566.261,82.333,33.418,382.344,0.000,331.710,0.000,0.541,0.000
$DEVICE_MAMPS,55.845,1278.315,1305.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.920,369.522,292.453,433.497,563.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14389,136
$CAP_FILE_SIZE,31480,0
$CFSIZE,1024409600,967311360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,232521,6142.429,-17352.293,5,0.8,19,7.0,0.8,133.7,10,4.9