version: 66.13
glider: 401
mission: 22
dive: 76
start: 7 28 117 0 43 11
data:
$ID,401
$MISSION,22
$DIVE,76
$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,350
$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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$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
$GPS1,280717,003457,5923.5557,-17038.2871,8,0.8,39,8.5,0.8,167.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-45.4
$GPS2,280717,004205,5923.4878,-17038.2480,7,0.8,17,8.5,0.0,192.4,9,4.9
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250815,0.201343
$KALMAN_X,12824.116211,-536.996094,-173.690887,-24182.585938,13.320190
$KALMAN_Y,3468.648926,1407.316040,507.424133,9756.055664,-162.799591
$MHEAD_RNG_PITCHd_Wd,300.3,15960,-12.2,-9.091,-15.78,5644
$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,-1.62,-341.3,230,1889,2086,4092,0.0,0.0,0,21,11.48,0.00,0.00,0.000,2049,0.103,0.000,1185,1887,2087,2087,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.28,49.05
$GC,23,-1.62,-341.3,1185,1887,2087,4094,0.9,0.0,1,51,7.05,2.78,-7.50,0.000,18948,0.054,1.307,1832,933,2903,2903,4094,0,0,0,0,0,0,25.87,24.82,25.94,10.29,48.77
$GC,145,-1.62,-341.3,1832,933,2904,4094,9.9,-14.5,18,154,0.00,2.45,0.00,0.000,1030,0.000,0.031,1832,1902,2905,2905,4095,0,0,0,0,0,0,25.87,25.79,25.85,10.47,48.38
$GC,192,-1.62,-341.3,1832,1902,2905,4095,15.4,-11.4,24,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1902,2906,2906,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.47,47.87
$GC,237,-1.62,-341.3,1832,1904,2906,4094,20.4,-10.0,30,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,2907,2907,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.42,47.55
$GC,282,-1.62,-341.3,1832,1905,2907,4095,25.3,-10.5,36,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,2907,2907,4095,0,0,0,0,0,0,26.22,26.23,26.22,10.41,46.69
$GC,326,-1.62,-341.3,1832,1905,2908,4095,30.0,-10.8,42,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,2908,2908,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.38,45.86
$GC,370,-1.62,-341.3,1832,1905,2909,4094,35.0,-11.4,48,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,2909,2909,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.38,44.76
$GC,415,-1.62,-341.3,1832,1906,2910,4094,40.0,-11.4,54,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,2910,2910,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.37,44.84
$GC,459,-1.62,-341.3,1832,1905,2910,4094,45.2,-12.2,60,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,2911,2911,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.36,44.80
$GC,502,-1.62,-341.3,1832,1905,2911,4094,50.4,-12.0,66,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,2912,2912,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.35,44.68
$GC,547,-1.62,-341.3,1832,1905,2913,4094,55.9,-12.4,72,556,0.00,2.60,0.00,0.000,260,0.000,0.060,1832,2864,2913,2913,4094,0,0,0,0,0,0,26.40,26.07,26.41,10.35,44.56
$GC,572,-1.62,-341.3,1832,2864,2914,4094,58.9,-11.9,75,581,0.00,2.42,0.00,0.000,1030,0.000,0.031,1833,1913,2913,2913,4094,0,0,0,0,0,0,26.18,26.14,26.24,10.35,43.85
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1832,2041,2914,4095,61.2,-12.0,77,623,4.12,0.08,20.50,1.264,10244,0.068,0.104,2204,1998,2500,2500,4094,0,0,0,0,0,0,26.12,25.48,24.59,10.34,43.66
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.62,341.3,2204,1998,2500,4094,63.5,0.0,80,661,7.07,0.00,20.00,1.244,11270,0.041,0.000,2865,1998,2104,2104,4094,0,0,0,0,0,0,25.67,25.84,24.15,10.25,43.62
$GC,698,1.62,341.3,2865,1997,2103,4094,58.2,11.2,89,707,0.00,2.70,0.00,0.000,260,0.000,0.059,2866,2960,2103,2103,4094,0,0,0,0,0,0,25.63,25.32,25.63,10.16,42.75
$GC,763,1.62,341.3,2865,2960,2101,4094,49.7,13.0,98,772,0.00,2.42,0.00,0.000,1030,0.000,0.031,2865,2035,2101,2101,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.15,44.17
$GC,808,1.62,341.3,2865,2034,2100,4094,44.1,12.1,104,817,0.00,2.75,0.00,0.000,516,0.000,0.072,2865,1049,2100,2100,4094,0,0,0,0,0,0,25.91,25.58,25.93,10.14,43.69
$GC,887,1.62,341.3,2865,1048,2098,4094,34.2,12.3,115,895,0.00,2.28,0.00,0.000,1030,0.000,0.030,2866,1948,2098,2098,4094,0,0,0,0,0,0,25.84,25.80,25.86,10.14,44.17
$GC,933,1.62,341.3,2865,1949,2097,4094,28.7,12.3,121,941,0.00,2.80,0.00,0.000,260,0.000,0.062,2865,2964,2096,2096,4094,0,0,0,0,0,0,26.10,25.77,26.12,10.14,44.21
$GC,1011,1.62,341.3,2866,2964,2094,4094,18.7,13.2,132,1020,0.00,2.53,0.00,0.000,1030,0.000,0.032,2865,1988,2094,2094,4095,0,0,0,0,0,0,25.96,25.91,26.01,10.13,44.48
$GC,1057,1.62,341.3,2865,1988,2093,4095,13.7,9.4,138,1067,0.00,2.62,0.00,0.000,516,0.000,0.075,2865,1041,2093,2093,4094,0,0,0,0,0,0,26.23,25.88,26.25,10.17,45.82
$STATE,1167,end climb,FINISH_DEPTH_REACHED
$STATE,1168,begin subsurface finish
$FINISH1,1.8,1.024313,90
$GC,1176,0.13,89.7,2865,1998,2090,4094,1.8,9.8,154,1195,4.88,2.78,-2.60,0.000,20996,0.048,1.314,2406,1046,2403,2403,4095,0,0,0,0,0,0,26.10,25.02,26.15,10.23,48.03
$FINISH2,0.8
$STATE,1196,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1196,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,270717,232016
$TT8_MAMPS,0.025466,0.244923
$HUMID,48.70
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.15,1.994
$10V_AH,10.28,2.917
$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,34.600,33.875,40.500,0.000,0.000,25.802,21.514,270.641,0.000,0.000,18.301,442.492,0.000,129.673,992.543,82.114,33.449,386.315,0.000,378.910,0.000,1.732,0.000
$DEVICE_MAMPS,102.510,1314.270,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.150,423.861,335.494,496.965,648.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329508
$DATA_FILE_SIZE,14386,156
$CAP_FILE_SIZE,35017,0
$CFSIZE,1024409600,1015758848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280717,004205,5923.488,-17038.248,7,0.8,17,8.5,0.0,192.4,9,4.9