version: 66.12
glider: 401
mission: 19
dive: 7
start: 3 14 117 23 57 16
data:
$ID,401
$MISSION,19
$DIVE,7
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00357857
$HD_B,0.0168193
$HD_C,5.8179498e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$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,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12
$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,60
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2082
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$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,-50.554909
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,-10236
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,140317,235233,4742.5601,-12224.8857,18,1.0,64,16.3,0.5,43.2,8,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-56.9
$GPS2,140317,235632,4742.5601,-12224.8691,4,0.8,18,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.063937,0.252179
$KALMAN_X,79.645821,242.855331,162.216492,-677.760376,-182.971893
$KALMAN_Y,-215.810242,303.455994,225.195450,-2707.514404,-478.083923
$MHEAD_RNG_PITCHd_Wd,357.9,2668,-16.1,-10.000,-21.03,3723
$D_GRID,180
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.73,-244.4,232,1910,1729,4095,0.0,0.0,0,32,0.00,0.00,-4.62,0.000,16390,0.000,0.000,231,1910,2372,2372,4094,0,0,0,0,0,0,26.51,25.58,26.51,10.25,37.04
$GC,33,-1.73,-244.4,232,1911,2374,4094,1.9,0.0,1,63,21.83,3.58,0.00,0.000,2564,0.127,0.068,1961,590,2375,2375,4094,0,0,0,0,0,0,25.72,25.72,25.80,10.38,37.75
$GC,258,-1.73,-244.4,1961,591,2384,4094,50.4,-17.5,23,276,0.00,3.30,0.00,0.000,1030,0.000,0.036,1961,1893,2383,2383,4094,0,0,0,0,0,0,26.16,26.15,26.20,10.39,37.04
$GC,327,-1.73,-244.4,1961,1895,2386,4094,60.9,-14.0,29,345,0.00,3.58,0.00,0.000,260,0.000,0.071,1961,3196,2385,2385,4094,0,0,0,0,0,0,26.53,25.98,26.55,10.39,36.80
$GC,387,-1.73,-244.4,1961,3195,2387,4095,69.4,-14.3,34,405,0.00,3.30,0.00,0.000,1030,0.000,0.034,1960,1909,2386,2386,4094,0,0,0,0,0,0,26.23,26.20,26.26,10.39,36.57
$GC,458,-1.73,-244.4,1961,1911,2389,4095,79.0,-13.3,40,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1909,2388,2388,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.39,36.88
$GC,527,-1.73,-244.4,1960,1910,2391,4094,88.8,-14.8,46,540,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1910,2390,2390,4094,0,0,0,0,0,0,26.64,26.66,26.65,10.40,36.57
$GC,591,-1.73,-244.4,1961,1910,2393,4094,98.2,-14.9,52,604,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1909,2392,2392,4094,0,0,0,0,0,0,26.67,26.69,26.68,10.40,36.61
$GC,657,-1.73,-244.4,1961,1908,2395,4095,108.0,-14.4,58,671,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1909,2395,2395,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.39,36.65
$GC,721,-1.73,-244.4,1961,1910,2397,4094,117.2,-14.2,64,735,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1909,2396,2396,4094,0,0,0,0,0,0,26.72,26.74,26.73,10.40,36.33
$GC,785,-1.73,-244.4,1961,1910,2398,4094,126.2,-14.6,70,799,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1909,2398,2398,4094,0,0,0,0,0,0,26.74,26.76,26.75,10.40,36.33
$GC,850,-1.73,-244.4,1960,1908,2401,4095,135.7,-14.6,76,868,0.00,3.55,0.00,0.000,260,0.000,0.071,1961,3203,2400,2400,4094,0,0,0,0,0,0,26.76,26.16,26.77,10.40,36.49
$GC,879,-1.73,-244.4,1961,3203,2402,4095,140.0,-14.6,78,894,0.00,3.30,0.00,0.000,1030,0.000,0.034,1961,1905,2401,2401,4094,0,0,0,0,0,0,26.41,26.36,26.46,10.40,36.25
$GC,944,-1.73,-244.4,1961,1906,2404,4094,149.3,-14.3,84,958,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1905,2403,2403,4094,0,0,0,0,0,0,26.78,26.79,26.79,10.40,36.88
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,972,-0.42,0.0,1961,2027,2404,4094,153.0,-14.4,86,1001,4.72,0.00,18.10,2.023,10244,0.075,0.000,2386,2026,2082,2082,4094,0,0,0,0,0,0,26.31,24.67,23.43,10.40,36.13
$STATE,1002,end apogee,CONTROL_FINISHED_OK
$STATE,1002,begin climb
$GC,1003,1.73,244.4,2386,2026,2083,4095,156.0,0.0,88,1032,7.25,0.00,16.52,1.975,11270,0.041,0.000,3067,2026,1796,1796,4094,0,0,0,0,0,0,25.77,25.92,22.96,10.35,35.86
$GC,1082,1.76,265.0,3067,2026,1796,4095,150.9,9.4,95,1097,0.00,0.00,3.08,0.774,8198,0.000,0.000,3067,2026,1773,1773,4094,0,0,0,0,0,0,25.89,24.65,23.45,10.28,35.98
$GC,1147,1.76,265.0,3067,2027,1773,4095,143.6,11.5,101,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2026,1771,1771,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.28,35.66
$GC,1212,1.76,265.0,3066,2027,1771,4094,136.3,11.6,107,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2026,1769,1769,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.27,36.29
$GC,1276,1.76,265.0,3067,2028,1770,4094,129.3,10.7,113,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2026,1768,1768,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.28,36.21
$GC,1344,1.79,282.1,3066,2026,1767,4095,122.9,9.5,119,1359,0.10,0.00,2.67,0.496,10246,0.076,0.000,3083,2026,1751,1751,4094,0,0,0,0,0,0,26.17,25.15,24.03,10.28,36.37
$GC,1409,1.79,282.1,3084,2026,1751,4095,115.1,12.2,125,1424,0.00,3.70,0.00,0.000,516,0.000,0.080,3084,698,1749,1749,4094,0,0,0,0,0,0,26.44,25.86,26.45,10.27,36.17
$GC,1445,1.79,282.1,3083,699,1750,4094,110.3,13.2,128,1463,0.00,3.22,0.00,0.000,1030,0.000,0.034,3084,1978,1748,1748,4094,0,0,0,0,0,0,26.16,26.12,26.20,10.27,36.17
$GC,1514,1.79,282.1,3084,1980,1747,4095,101.3,14.2,134,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1980,1746,1746,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.27,36.13
$GC,1578,1.79,282.1,3083,1981,1746,4094,94.0,10.9,140,1596,0.00,3.55,0.00,0.000,516,0.000,0.079,3083,696,1744,1744,4094,0,0,0,0,0,0,26.55,25.96,26.57,10.27,36.02
$GC,1618,1.79,282.1,3084,696,1744,4095,89.1,11.9,143,1632,0.00,3.28,0.00,0.000,1030,0.000,0.034,3084,2001,1743,1743,4094,0,0,0,0,0,0,26.25,26.23,26.29,10.26,36.02
$GC,1683,1.79,282.1,3084,2001,1743,4095,81.1,11.8,149,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2001,1741,1741,4094,0,0,0,0,0,0,26.60,26.63,26.62,10.26,36.10
$GC,1747,1.79,282.1,3084,2002,1741,4094,73.8,11.1,155,1761,0.00,3.53,0.00,0.000,260,0.000,0.070,3084,3294,1739,1739,4094,0,0,0,0,0,0,26.64,26.07,26.65,10.26,36.21
$GC,1773,1.79,282.1,3084,3295,1740,4094,70.9,11.2,157,1787,0.00,3.28,0.00,0.000,1030,0.000,0.034,3084,2012,1739,1739,4094,0,0,0,0,0,0,26.31,26.25,26.34,10.26,36.69
$GC,1838,1.79,282.1,3084,2012,1738,4095,63.9,10.6,163,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2012,1737,1737,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.26,36.13
$GC,1902,1.79,282.1,3084,2013,1737,4093,56.6,11.5,169,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2012,1736,1736,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.26,36.25
$GC,1966,1.79,282.1,3084,2013,1735,4094,49.6,10.5,175,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2013,1734,1734,4094,0,0,0,0,0,0,26.72,26.73,26.73,10.26,35.98
$GC,2033,1.79,282.1,3084,2012,1733,4095,42.3,10.9,181,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2012,1732,1732,4094,0,0,0,0,0,0,26.74,26.75,26.74,10.25,36.06
$GC,2097,1.79,282.1,3084,2013,1732,4094,35.5,10.4,187,2112,0.00,3.58,0.00,0.000,516,0.000,0.078,3084,701,1730,1730,4094,0,0,0,0,0,0,26.76,26.13,26.77,10.26,36.45
$GC,2172,1.79,282.1,3084,701,1730,4095,27.4,11.3,194,2186,0.00,3.22,0.00,0.000,1030,0.000,0.034,3083,1998,1729,1729,4094,0,0,0,0,0,0,26.46,26.46,26.48,10.25,36.33
$GC,2236,1.79,282.1,3084,1999,1729,4094,20.4,10.5,200,2254,0.00,3.58,0.00,0.000,516,0.000,0.080,3084,697,1727,1727,4094,0,0,0,0,0,0,26.79,26.15,26.79,10.26,36.21
$GC,2277,1.79,282.1,3084,697,1727,4095,15.9,11.0,203,2291,0.00,3.15,0.00,0.000,1030,0.000,0.034,3084,1967,1726,1726,4094,0,0,0,0,0,0,26.48,26.44,26.51,10.26,36.41
$GC,2342,1.79,282.1,3084,1968,1725,4094,8.7,10.8,209,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1967,1724,1724,4094,0,0,0,0,0,0,26.80,26.82,26.82,10.26,35.94
$GC,2410,1.96,389.2,3084,1969,1724,4095,3.0,7.1,215,2426,0.47,3.47,6.10,0.467,10756,0.040,0.078,3136,691,1624,1624,4094,0,0,0,0,0,0,26.51,25.91,25.42,10.25,36.25
$STATE,2437,end climb,SURFACE_DEPTH_REACHED
$STATE,2437,begin surface coast
$FINISH,0.2,1.013220
$STATE,2487,end surface coast,CONTROL_FINISHED_OK
$STATE,2487,begin surface
$SM_CCo,2585,0.00,0.000,0,0,1623,394.10
$SM_GC,1.22,29.77,3.05,0.00,0.028,0.037,0.000,242,1911,1623,-7.14,-1.14,394.10,0,0,1,0,0,0,26.39,26.44,26.46
$IRIDIUM_FIX,4748.51,-12337.82,140317,231243
$TT8_MAMPS,0.051681,0.26215
$HUMID,36.29
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,7.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,4.1
$ALTIM_BOTTOM_PING,102.0,2.3
$24V_AH,22.96,4.796
$10V_AH,9.45,5.341
$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,64.150,61.425,46.475,0.000,0.000,28.867,19.174,122.633,0.750,0.000,19.756,0.000,61.241,298.968,2355.212,114.186,33.663,805.332,0.000,2097.958,0.000,7.146,0.000
$DEVICE_MAMPS,126.990,79.560,2022.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,149.599,284.899,477.195,1173.276,2056.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,21379,222
$CAP_FILE_SIZE,53929,10
$CFSIZE,1024409600,1018773504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,150317,004052,4742.682,-12224.961,2,0.9,15,16.3,0.0,0.0,10,4.8