version: 66.13
glider: 401
mission: 22
dive: 708
start: 8 8 117 17 11 43
data:
$ID,401
$MISSION,22
$DIVE,708
$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,49
$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
$GPS1,080817,163240,6038.5737,-17335.3750,7,0.8,17,7.1,0.6,16.7,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-1.3
$GPS2,080817,163240,6038.5737,-17335.3750,7,0.8,17,7.1,0.6,16.7,10,4.7
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.148756,0.292535
$KALMAN_X,65977.765625,-399.907135,196.085007,-245551.718750,80.505463
$KALMAN_Y,-27946.718750,808.275330,554.704041,180786.921875,-38.932068
$MHEAD_RNG_PITCHd_Wd,325.9,48745,-15.8,-11.111,-18.70,4080
$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,-1.89,-299.3,2391,1963,2366,4092,0.0,0.0,0,20,6.70,0.00,-2.78,0.000,20482,0.024,0.000,1734,1964,2731,2731,4095,0,0,0,0,0,0,26.19,28.83,26.22,10.35,52.79
$GC,23,-1.89,-299.3,1734,1963,2731,4095,0.9,0.0,1,33,0.00,0.00,-0.73,0.000,16390,0.000,0.000,1734,1964,2840,2840,4095,0,0,0,0,0,0,26.38,25.63,26.32,10.42,52.75
$GC,69,-1.89,-299.3,1734,1963,2841,4095,6.4,-14.7,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1964,2840,2840,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.45,52.63
$GC,114,-1.89,-299.3,1733,1963,2842,4094,13.3,-15.5,13,122,0.00,1.15,0.00,0.000,516,0.000,0.049,1734,1519,2843,2843,4094,0,0,0,0,0,0,26.31,26.00,26.32,10.43,52.00
$GC,210,-1.89,-299.3,1733,1519,2845,4094,27.9,-15.4,27,220,0.00,0.98,0.00,0.000,1030,0.000,0.027,1734,1938,2846,2846,4095,0,0,0,0,0,0,26.19,26.17,26.20,10.39,50.55
$GC,257,-1.89,-299.3,1733,1938,2846,4095,35.0,-15.9,33,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1938,2847,2847,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.38,49.80
$GC,302,-1.89,-299.3,1733,1937,2848,4094,41.9,-14.6,39,311,0.00,1.12,0.00,0.000,260,0.000,0.043,1734,2369,2848,2848,4094,0,0,0,0,0,0,26.45,26.16,26.46,10.38,49.44
$GC,334,-1.89,-299.3,1733,2368,2849,4094,46.5,-14.3,43,344,0.00,1.05,0.00,0.000,1030,0.000,0.030,1734,1945,2849,2849,4094,0,0,0,0,0,0,26.24,26.20,26.26,10.37,49.13
$GC,382,-1.89,-299.3,1733,1944,2850,4094,53.1,-14.1,49,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1945,2850,2850,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.36,48.22
$GC,428,-1.89,-299.3,1733,1944,2851,4095,59.8,-14.5,55,438,0.00,1.05,0.00,0.000,516,0.000,0.051,1734,1527,2852,2852,4095,0,0,0,0,0,0,26.51,26.22,26.53,10.34,47.59
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,453,-0.45,0.0,1733,1958,2852,4094,62.7,-14.2,57,480,4.95,0.00,18.38,1.278,10244,0.065,0.000,2185,1958,2484,2484,4095,0,0,0,0,0,0,26.22,25.62,24.58,10.34,47.44
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,483,1.89,299.3,2185,1958,2483,4095,65.9,0.0,60,520,7.82,1.05,17.75,1.251,10500,0.033,0.041,2928,2362,2134,2134,4094,0,0,0,0,0,0,25.79,25.75,24.25,10.26,46.92
$GC,631,1.89,299.3,2927,2362,2133,4094,49.3,13.9,80,640,0.00,1.05,0.00,0.000,1030,0.000,0.031,2928,1957,2131,2131,4094,0,0,0,0,0,0,25.81,25.78,25.83,10.17,46.57
$GC,677,1.89,299.3,2928,1956,2130,4094,43.0,13.4,86,685,0.00,1.15,0.00,0.000,516,0.000,0.057,2928,1519,2129,2129,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.17,46.96
$GC,728,1.89,299.3,2928,1518,2128,4094,36.0,13.2,93,738,0.00,0.93,0.00,0.000,1030,0.000,0.025,2928,1938,2128,2128,4094,0,0,0,0,0,0,26.01,25.98,26.01,10.18,46.53
$GC,776,1.89,299.3,2927,1939,2127,4094,30.2,12.5,99,785,0.00,1.05,0.00,0.000,260,0.000,0.039,2928,2342,2127,2127,4094,0,0,0,0,0,0,26.23,25.98,26.25,10.18,47.28
$GC,880,1.89,299.3,2927,2342,2124,4094,16.5,12.9,114,889,0.00,1.02,0.00,0.000,1030,0.000,0.033,2928,1941,2124,2124,4095,0,0,0,0,0,0,26.11,26.07,26.13,10.19,48.38
$GC,927,1.89,299.3,2928,1941,2123,4095,10.8,12.2,120,937,0.00,1.10,0.00,0.000,516,0.000,0.058,2928,1517,2123,2123,4095,0,0,0,0,0,0,26.36,26.06,26.38,10.20,48.70
$STATE,1010,end climb,SURFACE_DEPTH_REACHED
$STATE,1010,begin surface coast
$FINISH,0.1,1.022372
$STATE,1031,end surface coast,CONTROL_FINISHED_OK
$STATE,1031,begin surface
$SM_CCo,1131,0.00,0.000,0,0,2120,313.39
$SM_GC,1.10,27.92,1.00,0.00,0.023,0.031,0.000,239,1929,2120,-6.55,-2.87,313.39,0,0,0,0,0,0,26.23,26.20,26.27
$IRIDIUM_FIX,5952.82,-17420.78,080817,151925
$TT8_MAMPS,0.025466,0.243425
$HUMID,51.85
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.25,19.132
$10V_AH,10.20,22.979
$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,47.400,15.750,36.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,394.260,60.479,125.603,562.922,53.598,33.414,330.494,0.000,330.977,0.000,0.543,0.000
$DEVICE_MAMPS,65.025,58.140,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.611,366.706,290.451,430.783,560.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,14348,135
$CAP_FILE_SIZE,26994,0
$CFSIZE,1024409600,984711168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,173141,6039.339,-17335.480,5,0.9,31,7.1,0.0,5.1,10,4.9