version: 66.13
glider: 401
mission: 22
dive: 173
start: 7 29 117 18 7 27
data:
$ID,401
$MISSION,22
$DIVE,173
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,290717,174419,5935.3027,-17056.9805,8,0.8,13,8.4,0.0,247.8,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.6
$GPS2,290717,174419,5935.3027,-17056.9805,8,0.8,13,8.4,0.0,247.8,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239974,0.240356
$KALMAN_X,23090.894531,-943.604980,-399.572479,-51570.230469,-130.786682
$KALMAN_Y,3401.436768,1841.267944,463.469238,31318.669922,12.786438
$MHEAD_RNG_PITCHd_Wd,306.6,34964,-11.3,-9.091,-14.98,6429
$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,-1.61,-390.0,2410,1890,2396,4092,0.0,0.0,0,17,5.82,0.00,-1.35,0.000,20482,0.028,0.000,1844,1891,2542,2542,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.30,49.84
$GC,19,-1.61,-390.0,1844,1890,2542,4094,0.1,0.0,1,30,0.00,2.42,-3.85,0.000,16900,0.000,1.319,1844,1036,2961,2961,4095,0,0,0,0,0,0,26.35,25.05,26.36,10.33,50.00
$GC,50,-1.61,-390.0,1843,1036,2961,4095,1.6,-5.7,6,56,0.00,2.17,0.00,0.000,1030,0.000,0.032,1844,1908,2961,2961,4094,0,0,0,0,0,0,26.08,26.02,26.09,10.42,49.80
$GC,87,-1.61,-390.0,1843,1909,2961,4094,5.8,-11.6,12,92,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1909,2962,2962,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.42,49.60
$GC,123,-1.61,-390.0,1843,1908,2962,4094,10.7,-13.7,18,128,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1909,2962,2962,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.42,49.48
$GC,159,-1.61,-390.0,1843,1909,2964,4095,15.7,-13.6,24,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1909,2964,2964,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.43,49.56
$GC,195,-1.61,-390.0,1843,1910,2964,4095,19.8,-10.5,30,201,0.00,2.28,0.00,0.000,260,0.000,0.057,1844,2761,2964,2964,4094,0,0,0,0,0,0,26.36,26.03,26.37,10.39,49.17
$GC,220,-1.61,-390.0,1843,2761,2964,4094,22.4,-10.2,34,226,0.00,2.15,0.00,0.000,1030,0.000,0.031,1844,1910,2964,2964,4094,0,0,0,0,0,0,26.17,26.10,26.20,10.38,49.40
$GC,257,-1.61,-390.0,1843,1910,2965,4094,26.3,-10.5,40,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,2965,2965,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.36,48.03
$GC,293,-1.61,-390.0,1843,1910,2965,4095,30.0,-10.3,46,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,2966,2966,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.35,47.32
$GC,329,-1.61,-390.0,1843,1910,2966,4094,33.9,-10.8,52,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,2967,2967,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.34,46.69
$GC,365,-1.61,-390.0,1843,1910,2967,4094,37.8,-11.3,58,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,2968,2968,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.33,46.77
$GC,401,-1.61,-390.0,1843,1910,2969,4095,42.0,-12.0,64,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,2968,2968,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.32,46.61
$GC,437,-1.61,-390.0,1843,1910,2969,4095,46.2,-11.7,70,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1910,2969,2969,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.32,45.94
$GC,473,-1.61,-390.0,1843,1910,2970,4094,50.0,-11.1,76,479,0.00,2.28,0.00,0.000,260,0.000,0.053,1843,2762,2970,2970,4095,0,0,0,0,0,0,26.49,26.17,26.51,10.32,45.86
$GC,504,-1.61,-390.0,1843,2762,2971,4095,53.4,-10.8,81,510,0.00,2.15,0.00,0.000,1030,0.000,0.032,1843,1911,2971,2971,4095,0,0,0,0,0,0,26.31,26.23,26.33,10.31,45.55
$GC,541,-1.61,-390.0,1843,1910,2971,4095,57.6,-11.2,87,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1911,2971,2971,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.31,46.45
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,568,-0.45,0.0,1843,2049,2972,4095,60.5,-11.9,91,602,3.95,0.05,22.95,1.280,10244,0.061,0.059,2206,2018,2500,2500,4094,0,0,0,0,0,0,26.24,25.29,24.63,10.31,46.10
$STATE,603,end apogee,CONTROL_FINISHED_OK
$STATE,603,begin climb
$GC,605,1.61,390.0,2206,2017,2500,4094,62.5,0.0,97,638,6.95,0.00,22.58,1.255,11270,0.038,0.000,2861,2017,2045,2045,4095,0,0,0,0,0,0,25.72,25.88,24.16,10.20,45.03
$GC,669,1.61,390.0,2860,2017,2044,4095,58.1,9.7,108,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2018,2044,2044,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.11,44.60
$GC,704,1.61,390.0,2860,2017,2043,4094,54.2,11.1,114,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2018,2043,2043,4095,0,0,0,0,0,0,25.71,25.72,25.72,10.10,44.64
$GC,740,1.61,390.0,2860,2017,2043,4095,50.4,10.6,120,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2018,2042,2042,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.10,44.60
$GC,776,1.61,390.0,2860,2017,2042,4094,46.4,10.9,126,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2017,2042,2042,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.09,45.15
$GC,813,1.61,390.0,2860,2017,2041,4094,42.7,9.9,132,819,0.00,2.28,0.00,0.000,260,0.000,0.058,2860,2853,2041,2041,4094,0,0,0,0,0,0,25.96,25.64,25.96,10.09,45.62
$GC,862,1.61,390.0,2860,2853,2039,4094,36.9,12.3,140,868,0.00,2.15,0.00,0.000,1030,0.000,0.031,2860,2010,2039,2039,4095,0,0,0,0,0,0,25.84,25.77,25.86,10.08,46.10
$GC,899,1.61,390.0,2860,2009,2038,4095,32.6,11.0,146,905,0.00,2.33,0.00,0.000,516,0.000,0.070,2860,1149,2038,2038,4094,0,0,0,0,0,0,26.08,25.74,26.09,10.08,45.55
$GC,954,1.61,390.0,2860,1149,2037,4094,26.0,11.7,155,960,0.00,2.03,0.00,0.000,1030,0.000,0.030,2861,1969,2037,2037,4094,0,0,0,0,0,0,25.96,25.90,25.98,10.08,45.82
$GC,991,1.61,390.0,2860,1968,2036,4094,21.7,11.5,161,997,0.00,2.40,0.00,0.000,260,0.000,0.060,2861,2852,2036,2036,4094,0,0,0,0,0,0,26.17,25.84,26.19,10.08,46.06
$GC,1045,1.61,390.0,2860,2852,2034,4094,15.1,11.9,170,1052,0.00,2.17,0.00,0.000,1030,0.000,0.032,2860,1999,2034,2034,4094,0,0,0,0,0,0,26.03,25.95,26.06,10.10,46.25
$GC,1083,1.61,390.0,2860,1998,2034,4094,11.6,9.4,176,1089,0.00,2.28,0.00,0.000,516,0.000,0.070,2861,1152,2034,2034,4094,0,0,0,0,0,0,26.25,25.91,26.26,10.13,47.32
$GC,1150,1.61,390.0,2860,1151,2032,4094,5.0,9.7,187,1156,0.00,2.00,0.00,0.000,1030,0.000,0.031,2860,1964,2032,2032,4094,0,0,0,0,0,0,26.12,26.06,26.14,10.16,50.19
$STATE,1187,end climb,FINISH_DEPTH_REACHED
$STATE,1187,begin subsurface finish
$FINISH1,1.4,1.025600,0
$GC,1192,0.00,0.0,2860,1966,2030,4095,1.4,9.7,193,1204,5.32,0.00,-4.07,0.000,20742,0.054,0.000,2357,1970,2506,2506,4094,0,0,0,0,0,0,26.12,25.25,26.14,10.17,50.55
$FINISH2,0.4
$STATE,1205,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1205,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,290717,173628
$TT8_MAMPS,0.025466,0.084637
$HUMID,50.19
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.16,4.345
$10V_AH,10.53,5.900
$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,22.050,31.700,45.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.805,343.008,146.002,292.302,40.832,33.421,364.601,0.000,290.927,0.000,0.541,0.000
$DEVICE_MAMPS,61.200,1318.860,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330864
$DATA_FILE_SIZE,14208,195
$CAP_FILE_SIZE,37577,0
$CFSIZE,1024409600,1010991104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290717,174419,5935.303,-17056.980,8,0.8,13,8.4,0.0,247.8,10,4.9