version: 66.13
glider: 401
mission: 22
dive: 690
start: 8 8 117 9 56 24
data:
$ID,401
$MISSION,22
$DIVE,690
$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,18
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,26
$R_STBD_OVSHOOT,46
$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
$GPS1,080817,091409,6036.1680,-17335.4805,7,0.7,24,7.1,0.0,43.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.8
$GPS2,080817,091409,6036.1680,-17335.4805,7,0.7,24,7.1,0.0,43.0,11,5.0
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.164193,0.371991
$KALMAN_X,63958.078125,-678.881348,248.574326,-243404.437500,124.144058
$KALMAN_Y,-25417.093750,602.500122,437.594604,174123.906250,-151.718811
$MHEAD_RNG_PITCHd_Wd,329.1,15444,-12.0,-11.111,-15.28,6735
$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,-1.75,-438.8,2399,1950,2365,4092,0.0,0.0,0,20,6.35,0.00,-3.00,0.000,20482,0.025,0.000,1781,1949,2699,2699,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.38,52.55
$GC,23,-1.75,-438.8,1781,1950,2699,4094,0.1,0.0,1,32,0.00,1.10,-2.75,0.000,16644,0.000,1.263,1781,2359,3000,3000,4095,0,0,0,0,0,0,26.29,24.85,26.29,10.46,53.42
$GC,246,-1.75,-438.8,1780,2359,3005,4095,27.0,-12.4,34,256,0.00,1.02,0.00,0.000,1030,0.000,0.029,1781,1945,3006,3006,4094,0,0,0,0,0,0,26.19,26.16,26.21,10.48,51.49
$GC,294,-1.75,-438.8,1780,1946,3007,4094,32.9,-13.3,40,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3007,3007,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.46,50.27
$GC,340,-1.75,-438.8,1780,1946,3007,4095,38.9,-12.9,46,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3008,3008,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.44,49.40
$GC,387,-1.75,-438.8,1780,1946,3009,4095,44.7,-12.4,52,396,0.00,1.05,0.00,0.000,516,0.000,0.050,1781,1527,3009,3009,4095,0,0,0,0,0,0,26.50,26.20,26.51,10.42,49.05
$GC,413,-1.75,-438.8,1780,1527,3009,4095,48.0,-11.9,55,422,0.00,0.95,0.00,0.000,1030,0.000,0.026,1781,1940,3009,3009,4094,0,0,0,0,0,0,26.31,26.29,26.33,10.41,48.58
$GC,460,-1.75,-438.8,1780,1939,3010,4094,53.7,-12.3,61,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1939,3010,3010,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.40,47.48
$GC,504,-1.75,-438.8,1780,1940,3012,4094,59.7,-13.2,67,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1940,3012,3012,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.40,47.63
$STATE,521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,521,begin apogee
$GC,526,-0.45,0.0,1780,1940,3012,4094,62.1,-13.3,69,562,4.35,0.00,25.55,1.271,10244,0.059,0.000,2185,1942,2484,2484,4094,0,0,0,0,0,0,26.27,25.48,24.50,10.40,47.12
$STATE,563,end apogee,CONTROL_FINISHED_OK
$STATE,563,begin climb
$GC,566,1.75,438.8,2184,1942,2484,4094,64.7,0.0,73,601,7.40,0.00,25.17,1.245,11270,0.034,0.000,2886,1943,1972,1972,4094,0,0,0,0,0,0,25.72,25.87,24.07,10.28,46.41
$GC,639,1.75,438.8,2885,1943,1971,4094,58.6,12.7,82,649,0.00,1.12,0.00,0.000,260,0.000,0.038,2886,2361,1970,1970,4094,0,0,0,0,0,0,25.67,25.42,25.68,10.17,45.23
$GC,692,1.75,438.8,2885,2361,1969,4094,51.5,13.8,89,701,0.00,1.02,0.00,0.000,1030,0.000,0.028,2886,1962,1969,1969,4094,0,0,0,0,0,0,25.67,25.63,25.68,10.16,45.39
$GC,738,1.75,438.8,2885,1962,1968,4094,45.0,14.1,95,747,0.00,1.15,0.00,0.000,516,0.000,0.054,2886,1523,1967,1967,4094,0,0,0,0,0,0,25.98,25.70,26.00,10.15,46.25
$GC,803,1.75,438.8,2885,1523,1966,4094,36.4,13.0,104,813,0.00,1.00,0.00,0.000,1030,0.000,0.025,2885,1958,1966,1966,4095,0,0,0,0,0,0,25.91,25.90,25.94,10.16,46.33
$GC,851,1.75,438.8,2885,1958,1964,4095,30.5,12.6,110,860,0.00,1.05,0.00,0.000,260,0.000,0.041,2886,2357,1964,1964,4094,0,0,0,0,0,0,26.17,25.90,26.18,10.15,46.25
$GC,922,1.75,438.8,2886,2357,1962,4094,21.0,12.9,120,931,0.00,1.05,0.00,0.000,1030,0.000,0.031,2886,1945,1962,1962,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.19,47.87
$GC,969,1.75,438.8,2886,1945,1960,4094,15.4,12.1,126,979,0.00,1.10,0.00,0.000,516,0.000,0.056,2886,1522,1961,1961,4095,0,0,0,0,0,0,26.30,26.00,26.32,10.21,48.81
$GC,1035,1.75,438.8,2885,1522,1959,4095,7.6,11.4,135,1044,0.00,0.98,0.00,0.000,1030,0.000,0.025,2886,1952,1959,1959,4094,0,0,0,0,0,0,26.15,26.15,26.18,10.23,50.43
$GC,1081,1.91,545.5,2886,1954,1958,4094,3.1,9.5,141,1092,0.43,1.08,6.55,0.501,10500,0.043,0.041,2934,2363,1846,1846,4094,0,0,0,0,0,0,26.17,25.99,25.36,10.25,50.70
$STATE,1100,end climb,SURFACE_DEPTH_REACHED
$STATE,1100,begin surface coast
$FINISH,0.1,1.024129
$STATE,1115,end surface coast,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$SM_CCo,1214,0.00,0.000,0,0,1845,549.50
$SM_GC,0.82,28.15,1.08,0.00,0.022,0.027,0.000,231,1936,1845,-6.59,1.28,549.50,0,0,0,0,0,0,26.05,26.12,26.13
$IRIDIUM_FIX,5952.82,-17420.78,080817,075712
$TT8_MAMPS,0.025466,0.244174
$HUMID,51.77
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.07,18.697
$10V_AH,10.20,22.543
$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,46.675,14.750,57.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,420.188,60.038,136.288,604.799,56.723,33.421,360.608,0.000,352.665,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1263.015,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.888,393.932,311.850,462.209,603.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330884
$DATA_FILE_SIZE,14353,145
$CAP_FILE_SIZE,29155,0
$CFSIZE,1024409600,985595904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,101754,6036.421,-17335.377,5,0.8,40,7.1,0.3,260.1,9,5.0