version: 66.13
glider: 401
mission: 22
dive: 1032
start: 8 14 117 10 28 56
data:
$ID,401
$MISSION,22
$DIVE,1032
$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,19
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,2340
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$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
$GPS1,140817,094629,6134.8442,-17351.8770,7,0.8,21,7.0,0.5,36.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-6.8
$GPS2,140817,094629,6134.8442,-17351.8770,7,0.8,21,7.0,0.5,36.2,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.013017,0.394367
$KALMAN_X,61423.554688,-676.490784,-354.924561,-255789.796875,5.523560
$KALMAN_Y,-63221.605469,2860.298584,1069.404541,317709.562500,-80.849243
$MHEAD_RNG_PITCHd_Wd,354.9,16261,-11.5,-10.526,-14.94,6951
$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,9,-1.78,-487.5,2399,1973,2353,4092,0.0,0.0,0,20,6.40,0.00,-2.42,0.000,20482,0.024,0.000,1774,1973,2614,2614,4094,0,0,0,0,0,0,26.06,28.83,26.11,10.30,53.93
$GC,24,-1.78,-487.5,1774,1973,2614,4094,0.1,0.0,1,34,0.00,1.08,-3.97,0.000,16644,0.000,1.270,1773,2368,3055,3055,4094,0,0,0,0,0,0,26.29,24.72,26.29,10.36,53.50
$GC,64,-1.78,-487.5,1773,2368,3056,4094,4.2,-12.3,6,74,0.00,1.05,0.00,0.000,1030,0.000,0.033,1773,1958,3057,3057,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.45,53.50
$GC,111,-1.78,-487.5,1773,1958,3058,4094,12.9,-19.1,12,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3059,3059,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.46,53.74
$GC,158,-1.78,-487.5,1772,1958,3059,4094,21.3,-17.9,18,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3060,3060,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.47,53.30
$GC,205,-1.78,-487.5,1773,1958,3061,4094,28.5,-13.5,24,215,0.00,1.08,0.00,0.000,260,0.000,0.044,1773,2358,3061,3061,4094,0,0,0,0,0,0,26.36,26.06,26.37,10.42,53.07
$GC,232,-1.78,-487.5,1773,2358,3061,4094,32.0,-12.4,27,242,0.00,1.02,0.00,0.000,1030,0.000,0.031,1773,1949,3062,3062,4095,0,0,0,0,0,0,26.15,26.10,26.16,10.40,51.89
$GC,280,-1.78,-487.5,1773,1949,3063,4095,37.7,-12.2,33,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1949,3063,3063,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.38,50.55
$GC,327,-1.78,-487.5,1773,1949,3064,4094,43.6,-12.5,39,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1949,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.36,49.33
$GC,372,-1.78,-487.5,1773,1949,3065,4095,49.5,-13.1,45,381,0.00,1.10,0.00,0.000,516,0.000,0.052,1773,1516,3065,3065,4095,0,0,0,0,0,0,26.46,26.15,26.47,10.35,48.58
$GC,418,-1.78,-487.5,1773,1515,3066,4095,55.8,-14.0,51,428,0.00,1.00,0.00,0.000,1030,0.000,0.027,1773,1943,3066,3066,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.34,48.26
$STATE,448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,456,-0.45,0.0,1773,2141,3067,4095,60.4,-13.7,55,492,4.43,0.00,28.30,1.312,10244,0.056,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.34,47.63
$STATE,493,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,496,1.78,487.5,2185,2140,2484,4094,63.5,0.0,59,541,7.53,0.00,27.92,1.282,11270,0.032,0.000,2892,2141,1918,1918,4094,0,0,0,0,0,0,25.56,25.72,23.86,10.21,47.04
$GC,580,1.78,487.5,2891,2141,1916,4094,56.8,12.4,69,589,0.00,1.12,0.00,0.000,516,0.000,0.043,2892,1719,1917,1917,4094,0,0,0,0,0,0,25.60,25.32,25.60,10.08,46.37
$GC,639,1.78,487.5,2891,1718,1916,4094,49.0,12.7,77,649,0.00,0.95,0.00,0.000,1030,0.000,0.028,2892,2103,1915,1915,4094,0,0,0,0,0,0,25.63,25.58,25.63,10.07,45.94
$GC,687,1.78,487.5,2891,2103,1914,4094,42.8,13.4,83,697,0.00,1.27,0.00,0.000,260,0.000,0.054,2892,2569,1913,1913,4095,0,0,0,0,0,0,25.93,25.62,25.94,10.06,46.18
$GC,727,1.78,487.5,2891,2569,1913,4095,37.1,14.2,88,737,0.00,1.20,0.00,0.000,1030,0.000,0.028,2892,2095,1913,1913,4095,0,0,0,0,0,0,25.79,25.76,25.79,10.06,46.45
$GC,774,1.78,487.5,2891,2094,1911,4095,30.7,13.9,94,783,0.00,1.00,0.00,0.000,516,0.000,0.049,2892,1708,1911,1911,4094,0,0,0,0,0,0,26.08,25.80,26.08,10.06,46.81
$GC,846,1.78,487.5,2891,1708,1909,4094,21.7,11.4,104,856,0.00,0.90,0.00,0.000,1030,0.000,0.028,2892,2086,1909,1909,4094,0,0,0,0,0,0,25.94,25.96,25.97,10.10,47.91
$GC,893,2.01,642.2,2891,2085,1908,4094,17.7,8.2,110,912,0.70,1.30,9.27,0.712,10500,0.034,0.050,2970,2569,1736,1736,4094,0,0,0,0,0,0,26.01,25.44,24.89,10.13,50.35
$GC,936,2.01,642.2,2969,2569,1735,4094,12.7,12.1,115,946,0.00,1.27,0.00,0.000,1030,0.000,0.028,2970,2067,1735,1735,4094,0,0,0,0,0,0,25.91,25.88,25.93,10.12,51.29
$GC,983,2.01,642.2,2969,2067,1733,4094,7.0,12.3,121,992,0.00,0.90,0.00,0.000,516,0.000,0.048,2970,1712,1733,1733,4095,0,0,0,0,0,0,26.18,25.89,26.19,10.13,51.49
$STATE,1019,end climb,SURFACE_DEPTH_REACHED
$STATE,1019,begin surface coast
$FINISH,0.4,1.023948
$STATE,1034,end surface coast,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$SM_CCo,1136,0.00,0.000,0,0,1731,647.38
$SM_GC,1.04,28.60,0.60,0.00,0.020,0.029,0.000,230,1985,1731,-6.59,-0.96,647.38,0,0,0,0,0,0,25.95,26.06,26.03
$IRIDIUM_FIX,6149.06,-17422.35,140817,083055
$TT8_MAMPS,0.025466,0.238931
$HUMID,52.75
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.86,28.577
$10V_AH,10.15,31.169
$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,47.650,17.925,65.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.066,60.347,151.026,535.871,77.204,33.416,384.997,0.000,312.888,0.000,0.540,0.000
$DEVICE_MAMPS,55.845,1269.900,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.082,347.791,275.244,407.999,533.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,10841,128
$CAP_FILE_SIZE,30282,0
$CFSIZE,1024409600,968785920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,104848,6135.637,-17351.568,5,0.9,18,7.0,0.4,51.7,9,4.9