version: 66.13
glider: 401
mission: 22
dive: 629
start: 8 7 117 5 45 40
data:
$ID,401
$MISSION,22
$DIVE,629
$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,24
$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,600
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,53
$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
$GPS1,070817,051955,6026.0747,-17333.9414,6,0.8,16,7.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.9
$GPS2,070817,051955,6026.0747,-17333.9414,6,0.8,16,7.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.156478,0.455122
$KALMAN_X,62818.351562,-2150.120605,-614.612732,-238472.906250,133.354431
$KALMAN_Y,46318.750000,3249.253174,1398.369873,80088.632812,9.991089
$MHEAD_RNG_PITCHd_Wd,333.9,34121,-4.5,-8.333,-9.82,18217
$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,-1.29,-585.0,2397,1964,2370,4092,0.0,0.0,0,20,4.80,0.00,-5.10,0.000,20482,0.026,0.000,1929,1965,2942,2942,4095,0,0,0,0,0,0,26.19,28.83,26.25,10.37,50.74
$GC,23,-1.29,-585.0,1929,1964,2942,4095,0.1,0.0,1,32,0.00,0.00,-2.03,0.000,16390,0.000,0.000,1928,1965,3167,3167,4095,0,0,0,0,0,0,26.36,25.65,26.34,10.49,50.70
$GC,68,-1.29,-585.0,1928,1964,3168,4095,3.6,-9.9,7,78,0.00,1.02,0.00,0.000,260,0.000,0.037,1929,2355,3168,3168,4095,0,0,0,0,0,0,26.28,26.01,26.29,10.55,51.29
$GC,101,-1.29,-585.0,1928,2355,3168,4095,6.7,-9.5,11,109,0.00,0.93,0.00,0.000,1030,0.000,0.026,1929,1976,3169,3169,4095,0,0,0,0,0,0,26.11,26.09,26.13,10.55,50.23
$GC,145,-1.29,-585.0,1928,1976,3169,4095,10.7,-8.6,17,155,0.00,1.15,0.00,0.000,516,0.000,0.050,1929,1527,3170,3170,4095,0,0,0,0,0,0,26.35,26.05,26.36,10.55,49.96
$GC,199,-1.29,-585.0,1928,1527,3170,4095,15.3,-9.0,24,208,0.00,1.05,0.00,0.000,1030,0.000,0.025,1929,1980,3170,3170,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.55,49.60
$GC,245,-1.29,-585.0,1928,1979,3171,4095,19.3,-8.2,30,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1979,3171,3171,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.53,49.25
$GC,290,-1.29,-585.0,1928,1980,3173,4094,22.8,-7.7,36,299,0.00,1.00,0.00,0.000,260,0.000,0.042,1929,2366,3171,3171,4095,0,0,0,0,0,0,26.45,26.17,26.46,10.50,49.64
$GC,342,-1.29,-585.0,1928,2365,3172,4095,26.5,-7.2,43,352,0.00,0.90,0.00,0.000,1030,0.000,0.026,1929,1997,3173,3173,4094,0,0,0,0,0,0,26.27,26.26,26.29,10.49,48.14
$GC,388,-1.29,-585.0,1928,1997,3173,4094,29.7,-7.1,49,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1997,3174,3174,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.47,47.12
$GC,433,-1.29,-585.0,1928,1998,3173,4094,32.9,-7.2,55,443,0.00,1.20,0.00,0.000,516,0.000,0.050,1929,1525,3173,3173,4094,0,0,0,0,0,0,26.52,26.22,26.53,10.45,47.55
$GC,473,-1.29,-585.0,1929,1525,3174,4094,35.5,-6.7,60,482,0.00,1.05,0.00,0.000,1030,0.000,0.025,1929,1983,3174,3174,4095,0,0,0,0,0,0,26.36,26.36,26.36,10.45,46.65
$GC,519,-1.29,-585.0,1928,1983,3175,4095,38.7,-6.7,66,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1983,3175,3175,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.44,46.02
$GC,566,-1.29,-585.0,1928,1982,3175,4095,41.7,-6.8,72,575,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1983,3175,3175,4094,0,0,0,0,0,0,26.57,26.59,26.59,10.43,45.47
$GC,612,-1.29,-585.0,1928,1982,3175,4094,44.8,-6.4,78,620,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1983,3176,3176,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.42,45.55
$GC,657,-1.29,-585.0,1928,1982,3176,4095,48.2,-7.8,84,665,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1983,3176,3176,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.41,45.43
$GC,702,-1.29,-585.0,1928,1982,3177,4094,51.5,-7.8,90,711,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1983,3177,3177,4095,0,0,0,0,0,0,26.62,26.64,26.63,10.41,45.43
$GC,749,-1.29,-585.0,1928,1982,3178,4095,54.9,-7.2,96,757,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1983,3177,3177,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.40,45.78
$GC,794,-1.29,-585.0,1928,1987,3178,4095,58.6,-8.4,102,801,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1987,3178,3178,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.40,45.51
$STATE,816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,816,begin apogee
$GC,821,-0.45,0.0,1928,1987,3178,4095,60.4,-7.7,105,864,2.72,0.00,33.08,1.281,10244,0.047,0.000,2186,1987,2483,2483,4094,0,0,0,0,0,0,26.39,25.13,24.43,10.40,45.78
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,868,1.29,585.0,2186,1986,2483,4094,62.2,0.0,110,912,5.85,1.00,33.10,1.261,10500,0.035,0.040,2737,2367,1802,1802,4094,0,0,0,0,0,0,25.58,25.54,23.92,10.25,45.15
$GC,961,1.66,835.0,2736,2366,1801,4094,57.5,6.9,122,989,1.17,1.05,15.18,1.121,11270,0.023,0.028,2859,1956,1510,1510,4094,0,0,0,0,0,0,25.44,25.41,24.09,10.11,44.64
$GC,1027,1.86,970.6,2858,1955,1509,4094,52.7,7.6,130,1045,0.55,1.15,9.07,0.975,10756,0.031,0.054,2918,1523,1352,1352,4094,0,0,0,0,0,0,25.45,24.90,24.24,10.04,44.60
$GC,1075,2.02,1073.6,2917,1523,1351,4094,48.9,7.8,136,1095,0.47,1.05,7.35,0.881,11270,0.026,0.026,2974,1983,1231,1231,4094,0,0,0,0,0,0,25.50,25.51,24.33,10.01,45.31
$GC,1133,2.02,1073.6,2974,1982,1230,4094,44.2,8.7,143,1142,0.00,0.98,0.00,0.000,260,0.000,0.043,2975,2344,1231,1231,4094,0,0,0,0,0,0,25.77,25.50,25.77,9.98,45.78
$GC,1178,2.02,1073.6,2974,2343,1229,4094,39.7,9.9,149,1188,0.00,0.98,0.00,0.000,1030,0.000,0.028,2974,1962,1229,1229,4094,0,0,0,0,0,0,25.68,25.65,25.70,9.98,45.58
$GC,1224,2.02,1073.6,2974,1962,1229,4094,35.7,8.6,155,1233,0.00,1.17,0.00,0.000,516,0.000,0.058,2975,1519,1228,1228,4094,0,0,0,0,0,0,25.98,25.67,25.99,9.97,46.45
$GC,1256,2.02,1073.6,2974,1518,1228,4094,33.0,8.4,159,1266,0.00,1.00,0.00,0.000,1030,0.000,0.027,2975,1961,1228,1228,4094,0,0,0,0,0,0,25.86,25.86,25.89,9.97,46.06
$GC,1303,2.09,1118.4,2974,1960,1227,4094,29.3,8.1,165,1314,0.10,0.98,3.95,0.511,10500,0.073,0.038,2993,2351,1181,1181,4094,0,0,0,0,0,0,25.92,25.47,24.90,9.97,46.37
$GC,1363,2.09,1118.4,2992,2351,1180,4094,24.1,8.5,173,1373,0.00,0.98,0.00,0.000,1030,0.000,0.029,2993,1967,1179,1179,4094,0,0,0,0,0,0,25.93,25.90,25.94,9.97,46.85
$GC,1409,2.32,1273.9,2993,1966,1179,4094,20.5,7.5,179,1427,0.68,0.00,9.62,0.721,10246,0.031,0.000,3071,1967,1000,1000,4094,0,0,0,0,0,0,26.00,25.47,24.96,9.98,47.36
$GC,1465,2.48,1384.3,3071,1966,999,4094,16.2,7.7,186,1476,0.40,0.00,7.45,0.629,10246,0.036,0.000,3115,1966,870,870,4094,0,0,0,0,0,0,25.91,25.65,24.98,9.97,48.22
$GC,1514,2.75,1558.6,3115,1966,869,4094,12.5,7.4,192,1531,0.82,0.00,10.52,0.659,10246,0.030,0.000,3199,1967,666,666,4094,0,0,0,0,0,0,25.88,25.41,24.96,9.97,49.13
$GC,1569,2.95,1694.5,3198,1966,664,4094,8.2,7.6,199,1589,0.65,1.02,8.55,0.584,10500,0.032,0.035,3270,2350,508,508,4094,0,0,0,0,0,0,25.84,25.43,24.97,9.96,50.23
$GC,1619,3.05,1760.6,3270,2349,507,4094,4.1,8.0,205,1630,0.20,0.95,5.03,0.438,11270,0.034,0.028,3297,1971,431,431,4094,0,0,0,0,0,0,25.82,25.80,25.04,9.93,50.82
$STATE,1644,end climb,FINISH_DEPTH_REACHED
$STATE,1644,begin subsurface finish
$FINISH1,1.7,1.024150,101
$GC,1651,0.15,101.1,3297,1971,430,4094,1.7,8.6,208,1687,9.57,1.20,-16.15,0.000,20996,0.028,1.277,2388,1531,2370,2370,4095,0,0,0,0,0,0,25.84,24.65,25.86,9.93,50.31
$FINISH2,0.2
$STATE,1688,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1688,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,035751
$TT8_MAMPS,0.025466,0.213465
$HUMID,51.45
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.92,16.850
$10V_AH,10.25,20.579
$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,28.000,21.800,142.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,567.005,0.966,215.508,887.785,74.051,33.427,601.812,0.000,315.448,0.000,0.542,0.000
$DEVICE_MAMPS,72.675,1276.785,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,142.703,576.017,0.000,674.653,879.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,21359,212
$CAP_FILE_SIZE,47848,0
$CFSIZE,1024409600,988561408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,051955,6026.075,-17333.941,6,0.8,16,7.1,0.0,0.0,11,5.0