version: 66.13
glider: 401
mission: 22
dive: 103
start: 7 28 117 12 3 44
data:
$ID,401
$MISSION,22
$DIVE,103
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,280717,115602,5926.1230,-17044.9766,5,0.8,29,8.5,0.0,104.1,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-45.2
$GPS2,280717,120238,5926.0713,-17044.8711,10,0.8,16,8.5,0.0,169.5,10,4.5
$SPEED_LIMITS,0.157,0.322
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.291495,0.135967
$KALMAN_X,16842.146484,-966.950317,-224.300293,-33999.351562,162.106049
$KALMAN_Y,6575.361328,1603.002441,525.565491,11222.427734,-175.538971
$MHEAD_RNG_PITCHd_Wd,286.5,8937,-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,-341.3,231,1888,2089,4092,0.0,0.0,0,19,9.65,0.00,0.00,0.000,2049,0.115,0.000,1015,1881,2089,2089,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.26,49.09
$GC,21,-1.62,-341.3,1014,1885,2089,4094,1.1,0.0,1,49,9.15,2.80,-7.55,0.000,18948,0.071,1.313,1828,930,2903,2903,4095,0,0,0,0,0,0,25.88,24.83,25.91,10.27,49.09
$GC,86,-1.62,-341.3,1827,930,2903,4095,0.1,-0.4,9,94,0.00,2.45,0.00,0.000,1030,0.000,0.031,1827,1905,2903,2903,4095,0,0,0,0,0,0,25.83,25.79,25.84,10.46,48.77
$GC,132,-1.62,-341.3,1827,1905,2905,4095,4.3,-10.7,15,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1905,2905,2905,4095,0,0,0,0,0,0,26.08,26.09,26.09,10.46,48.30
$GC,177,-1.62,-341.3,1827,1905,2905,4095,10.6,-14.1,21,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1905,2906,2906,4095,0,0,0,0,0,0,26.13,26.15,26.15,10.46,47.91
$GC,221,-1.62,-341.3,1827,1905,2907,4095,16.7,-13.3,27,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1905,2907,2907,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.46,47.83
$GC,266,-1.62,-341.3,1827,1905,2908,4094,21.7,-10.5,33,275,0.00,2.70,0.00,0.000,516,0.000,0.071,1828,933,2908,2908,4095,0,0,0,0,0,0,26.22,25.87,26.24,10.41,47.36
$GC,304,-1.62,-341.3,1827,932,2908,4095,26.2,-12.0,38,314,0.00,2.40,0.00,0.000,1030,0.000,0.031,1828,1889,2908,2908,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.39,47.00
$GC,351,-1.62,-341.3,1827,1889,2909,4094,30.6,-9.4,44,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1890,2910,2910,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.38,45.78
$GC,395,-1.62,-341.3,1826,1891,2910,4094,35.3,-10.5,50,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1890,2910,2910,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.37,45.03
$GC,439,-1.62,-341.3,1827,1890,2911,4095,40.5,-12.1,56,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1891,2911,2911,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.36,44.76
$GC,483,-1.62,-341.3,1827,1891,2912,4094,46.1,-12.5,62,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1891,2912,2912,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.35,44.05
$GC,528,-1.62,-341.3,1827,1892,2913,4094,51.5,-12.3,68,536,0.00,2.62,0.00,0.000,260,0.000,0.057,1828,2865,2913,2913,4095,0,0,0,0,0,0,26.41,26.08,26.42,10.34,44.21
$GC,559,-1.62,-341.3,1827,2865,2914,4095,55.7,-13.1,72,567,0.00,2.47,0.00,0.000,1030,0.000,0.031,1828,1899,2914,2914,4095,0,0,0,0,0,0,26.18,26.14,26.23,10.34,43.81
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,601,-0.45,0.0,1827,2052,2915,4094,60.5,-12.2,77,630,4.15,0.10,20.48,1.258,10244,0.063,0.085,2204,1998,2500,2500,4094,0,0,0,0,0,0,26.14,25.49,24.62,10.33,44.44
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.62,341.3,2204,1998,2500,4094,62.7,0.0,80,668,7.05,0.00,19.80,1.239,11270,0.040,0.000,2864,1998,2107,2107,4094,0,0,0,0,0,0,25.70,25.86,24.20,10.24,43.81
$GC,705,1.62,341.3,2864,1998,2106,4094,58.1,11.0,89,715,0.00,2.70,0.00,0.000,260,0.000,0.064,2864,2951,2106,2106,4094,0,0,0,0,0,0,25.64,25.32,25.65,10.16,43.85
$GC,784,1.62,341.3,2864,2951,2104,4094,48.1,13.7,100,794,0.00,2.38,0.00,0.000,1030,0.000,0.030,2864,2042,2104,2104,4094,0,0,0,0,0,0,25.65,25.65,25.67,10.15,43.66
$GC,831,1.62,341.3,2864,2042,2103,4094,42.5,11.3,106,841,0.00,2.78,0.00,0.000,516,0.000,0.073,2864,1043,2103,2103,4095,0,0,0,0,0,0,25.96,25.61,25.96,10.14,44.13
$GC,896,1.62,341.3,2864,1043,2101,4095,34.1,13.1,115,905,0.00,2.35,0.00,0.000,1030,0.000,0.031,2864,1969,2101,2101,4094,0,0,0,0,0,0,25.83,25.80,25.85,10.14,44.29
$GC,941,1.62,341.3,2864,1968,2100,4094,28.6,11.3,121,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1969,2100,2100,4094,0,0,0,0,0,0,26.10,26.13,26.12,10.13,44.25
$GC,985,1.62,341.3,2864,1969,2099,4094,23.1,12.1,127,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1970,2098,2098,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,44.32
$GC,1030,1.62,341.3,2864,1970,2097,4094,17.9,11.6,133,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1970,2097,2097,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.13,44.40
$GC,1074,1.62,341.3,2864,1971,2096,4094,12.8,10.5,139,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1971,2096,2096,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.17,45.58
$GC,1118,1.62,341.3,2864,1971,2095,4094,8.5,9.5,145,1128,0.00,2.58,0.00,0.000,516,0.000,0.073,2864,1045,2095,2095,4095,0,0,0,0,0,0,26.28,25.92,26.29,10.20,47.12
$GC,1169,1.62,341.3,2864,1044,2093,4095,3.7,9.4,152,1179,0.00,2.33,0.00,0.000,1030,0.000,0.030,2864,1973,2093,2093,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.21,48.07
$STATE,1187,end climb,FINISH_DEPTH_REACHED
$STATE,1187,begin subsurface finish
$FINISH1,1.6,1.024305,90
$GC,1193,0.14,90.3,2864,2060,2093,4095,1.6,10.5,154,1204,5.00,0.00,-2.78,0.000,20742,0.064,0.000,2410,2059,2400,2400,4094,0,0,0,0,0,0,26.06,25.23,26.13,10.22,48.14
$FINISH2,0.2
$STATE,1205,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1205,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,280717,104231
$TT8_MAMPS,0.025466,0.273385
$HUMID,49.17
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.20,2.572
$10V_AH,10.25,3.917
$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,35.000,31.075,40.275,0.000,0.000,25.789,20.805,239.223,0.000,0.000,19.049,444.191,0.401,137.390,954.214,87.421,33.451,409.622,0.000,377.257,0.000,1.733,0.000
$DEVICE_MAMPS,114.750,1312.740,1258.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.121,421.075,333.374,493.712,642.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329496
$DATA_FILE_SIZE,14292,155
$CAP_FILE_SIZE,38385,0
$CFSIZE,1024409600,1014431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280717,120238,5926.071,-17044.871,10,0.8,16,8.5,0.0,169.5,10,4.5