version: 66.13
glider: 401
mission: 22
dive: 167
start: 7 29 117 15 36 6
data:
$ID,401
$MISSION,22
$DIVE,167
$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,400
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,44
$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
$GPS1,290717,151221,5934.5034,-17053.9102,3,0.8,15,8.4,0.0,206.7,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.3
$GPS2,290717,151221,5934.5034,-17053.9102,3,0.8,15,8.4,0.0,206.7,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.195869,0.277296
$KALMAN_X,23832.623047,-631.632996,-29.138176,-50083.589844,-73.531059
$KALMAN_Y,3817.952881,1933.476074,548.164917,29242.402344,-128.176208
$MHEAD_RNG_PITCHd_Wd,316.4,38146,-11.3,-9.091,-14.99,6423
$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,8,-1.61,-389.9,2376,1906,2501,4092,0.0,0.0,0,18,5.50,0.00,-2.00,0.000,20482,0.027,0.000,1841,1906,2717,2717,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.33,49.76
$GC,20,-1.61,-389.9,1840,1906,2717,4094,0.1,0.0,1,26,0.00,0.00,-2.22,0.000,16390,0.000,0.000,1840,1906,2962,2962,4094,0,0,0,0,0,0,26.25,25.21,26.25,10.37,50.07
$GC,57,-1.61,-390.0,1840,1906,2961,4094,1.7,-6.9,7,62,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1906,2961,2961,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.42,49.80
$GC,93,-1.61,-390.0,1840,1906,2962,4094,5.4,-10.5,13,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2962,2962,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.43,49.60
$GC,129,-1.61,-390.0,1840,1906,2963,4094,10.1,-13.1,19,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2963,2963,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.43,50.23
$GC,165,-1.61,-390.0,1840,1906,2964,4095,15.0,-13.3,25,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1906,2964,2964,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.44,49.52
$GC,201,-1.61,-390.0,1840,1906,2964,4094,19.0,-10.2,31,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2964,2964,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.42,50.31
$GC,237,-1.61,-390.0,1840,1906,2965,4095,22.5,-9.7,37,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1906,2965,2965,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.38,49.25
$GC,273,-1.61,-390.0,1840,1906,2966,4094,26.1,-9.7,43,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1906,2966,2966,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.37,48.26
$GC,309,-1.61,-390.0,1840,1906,2967,4094,30.1,-11.1,49,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2967,2967,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.36,47.95
$GC,346,-1.61,-390.0,1840,1906,2967,4095,34.3,-11.3,55,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1907,2968,2968,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.34,47.59
$GC,382,-1.61,-390.0,1840,1906,2968,4095,38.5,-11.9,61,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1906,2968,2968,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.34,46.45
$GC,418,-1.61,-390.0,1840,1906,2968,4094,42.9,-12.5,67,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2969,2969,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.34,46.61
$GC,454,-1.61,-390.0,1840,1906,2970,4095,46.9,-11.2,73,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1906,2970,2970,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.33,46.22
$GC,490,-1.61,-390.0,1840,1906,2970,4095,51.0,-11.6,79,496,0.00,2.25,0.00,0.000,260,0.000,0.057,1840,2746,2971,2971,4095,0,0,0,0,0,0,26.49,26.17,26.51,10.33,46.10
$GC,515,-1.61,-390.0,1840,2745,2971,4095,54.0,-12.4,83,521,0.00,2.15,0.00,0.000,1030,0.000,0.031,1840,1888,2971,2971,4094,0,0,0,0,0,0,26.31,26.23,26.33,10.33,45.62
$GC,552,-1.61,-390.0,1840,1888,2972,4094,58.5,-12.2,89,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1888,2972,2972,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.32,45.51
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,574,-0.45,0.0,1840,2039,2972,4095,60.8,-12.3,92,606,3.97,0.00,22.98,1.278,10244,0.061,0.000,2205,2039,2500,2500,4095,0,0,0,0,0,0,26.24,25.28,24.63,10.32,46.10
$STATE,607,end apogee,CONTROL_FINISHED_OK
$STATE,607,begin climb
$GC,609,1.61,390.0,2205,2039,2500,4095,62.9,0.0,98,643,6.97,0.00,22.58,1.257,11270,0.039,0.000,2861,2039,2045,2045,4094,0,0,0,0,0,0,25.71,25.87,24.15,10.22,45.07
$GC,674,1.61,390.0,2861,2039,2044,4094,58.2,10.9,109,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2044,2044,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.11,44.36
$GC,710,1.61,390.0,2860,2039,2043,4094,53.9,12.1,115,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2043,2043,4095,0,0,0,0,0,0,25.70,25.72,25.72,10.11,44.95
$GC,746,1.61,390.0,2861,2039,2042,4095,50.1,10.8,121,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2042,2042,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.11,44.68
$GC,782,1.61,390.0,2861,2039,2041,4094,46.0,11.6,127,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.10,45.39
$GC,818,1.61,390.0,2861,2039,2041,4094,41.8,12.0,133,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2041,2041,4095,0,0,0,0,0,0,25.96,25.97,25.96,10.09,45.11
$GC,854,1.61,390.0,2860,2039,2040,4095,37.5,11.6,139,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2039,2039,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.09,45.11
$GC,890,1.61,390.0,2861,2039,2039,4094,33.6,10.6,145,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2038,2038,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.09,45.35
$GC,926,1.61,390.0,2861,2039,2038,4094,29.5,11.3,151,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2038,2038,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.09,45.98
$GC,962,1.61,390.0,2860,2039,2037,4094,25.3,11.3,157,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2037,2037,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.08,45.74
$GC,998,1.61,390.0,2861,2039,2036,4094,21.2,11.4,163,1004,0.00,2.40,0.00,0.000,516,0.000,0.066,2861,1153,2035,2035,4094,0,0,0,0,0,0,26.18,25.84,26.20,10.08,45.98
$GC,1059,1.61,390.0,2861,1153,2035,4094,14.3,10.3,173,1065,0.00,1.98,0.00,0.000,1030,0.000,0.030,2861,1955,2034,2034,4094,0,0,0,0,0,0,26.06,26.00,26.08,10.12,46.49
$GC,1096,1.61,390.0,2861,1955,2034,4094,11.0,9.2,179,1102,0.00,2.40,0.00,0.000,260,0.000,0.060,2862,2845,2034,2034,4095,0,0,0,0,0,0,26.26,25.94,26.27,10.15,48.18
$GC,1151,1.61,390.0,2861,2845,2032,4095,5.5,9.8,188,1157,0.00,2.17,0.00,0.000,1030,0.000,0.032,2861,1989,2032,2032,4094,0,0,0,0,0,0,26.11,26.03,26.13,10.17,49.52
$STATE,1187,end climb,FINISH_DEPTH_REACHED
$STATE,1187,begin subsurface finish
$FINISH1,1.9,1.025600,0
$GC,1192,0.00,0.0,2861,1989,2031,4094,1.9,9.5,194,1209,5.53,2.30,-3.72,0.000,20996,0.075,1.312,2368,1154,2506,2506,4095,0,0,0,0,0,0,26.03,24.99,26.08,10.18,49.40
$FINISH2,0.6
$STATE,1210,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1210,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,135346
$TT8_MAMPS,0.026215,0.084637
$HUMID,50.63
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.15,4.201
$10V_AH,10.53,5.752
$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,21.975,18.450,45.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.794,344.181,150.274,295.983,41.810,33.425,373.292,0.000,293.795,0.000,0.541,0.000
$DEVICE_MAMPS,74.970,1311.975,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,14264,197
$CAP_FILE_SIZE,36251,0
$CFSIZE,1024409600,1011286016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,151221,5934.503,-17053.910,3,0.8,15,8.4,0.0,206.7,10,4.8