version: 66.13
glider: 401
mission: 22
dive: 719
start: 8 8 117 21 21 19
data:
$ID,401
$MISSION,22
$DIVE,719
$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,25
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$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
$GPS1,080817,210018,6040.9307,-17335.1855,7,0.8,54,7.1,0.0,59.8,9,21.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-2.3
$GPS2,080817,210018,6040.9307,-17335.1855,7,0.8,54,7.1,0.0,59.8,9,21.4
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131988,0.371441
$KALMAN_X,67814.593750,-212.789536,220.700287,-247421.296875,12.638550
$KALMAN_Y,-27930.082031,1219.456055,825.243225,184454.312500,0.974731
$MHEAD_RNG_PITCHd_Wd,333.3,44599,-12.5,-11.111,-15.74,6255
$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,-1.80,-438.8,2393,1937,2365,4092,0.0,0.0,0,18,6.32,0.00,-1.45,0.000,20482,0.024,0.000,1765,1937,2543,2543,4095,0,0,0,0,0,0,26.10,28.83,26.15,10.32,51.61
$GC,21,-1.80,-438.8,1765,1937,2544,4095,0.7,0.0,1,28,0.00,0.00,-3.53,0.000,16390,0.000,0.000,1765,1937,3001,3001,4094,0,0,0,0,0,0,26.30,25.09,26.32,10.37,50.90
$GC,60,-1.80,-438.8,1765,1937,3002,4094,4.6,-12.7,7,66,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3003,3003,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.46,51.10
$GC,98,-1.80,-438.8,1764,1937,3003,4095,9.9,-13.8,13,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3003,3003,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.44,50.98
$GC,136,-1.80,-438.8,1765,1937,3004,4095,15.3,-14.6,19,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3004,3004,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.43,50.35
$GC,173,-1.80,-438.8,1765,1937,3004,4094,20.3,-12.6,25,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3005,3005,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.42,50.23
$GC,211,-1.80,-438.8,1765,1937,3006,4095,25.5,-13.8,31,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3006,3006,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.40,49.92
$GC,249,-1.80,-438.8,1765,1937,3007,4095,30.8,-13.9,37,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3007,3007,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.40,49.01
$GC,286,-1.80,-438.8,1765,1937,3007,4095,36.1,-14.3,43,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3008,3008,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.39,49.29
$GC,324,-1.80,-438.8,1765,1937,3009,4094,41.5,-14.2,49,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3009,3009,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.38,48.58
$GC,362,-1.80,-438.8,1765,1937,3010,4095,46.7,-13.5,55,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3010,3010,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,48.85
$GC,400,-1.80,-438.8,1764,1937,3010,4095,51.7,-13.0,61,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1937,3011,3011,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,47.91
$GC,437,-1.80,-438.8,1765,1937,3012,4095,56.7,-13.5,67,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1936,3012,3012,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.37,47.75
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,467,-0.45,0.0,1765,2071,3013,4095,60.2,-13.4,71,503,4.50,0.00,25.60,1.282,10246,0.058,0.000,2185,2071,2484,2484,4094,0,0,0,0,0,0,26.25,25.46,24.46,10.37,47.99
$STATE,504,end apogee,CONTROL_FINISHED_OK
$STATE,504,begin climb
$GC,507,1.80,438.8,2184,2071,2484,4094,63.0,0.0,77,544,7.47,1.38,25.25,1.254,10500,0.034,0.047,2895,2570,1972,1972,4094,0,0,0,0,0,0,25.69,25.01,24.03,10.24,47.28
$GC,608,1.80,438.8,2894,2569,1970,4094,53.3,13.2,93,615,0.00,1.30,0.00,0.000,1030,0.000,0.027,2894,2066,1970,1970,4094,0,0,0,0,0,0,25.56,25.53,25.57,10.13,46.14
$GC,647,1.80,438.8,2895,2066,1969,4094,48.1,13.0,99,653,0.00,1.48,0.00,0.000,516,0.000,0.054,2895,1512,1969,1969,4094,0,0,0,0,0,0,25.87,25.57,25.89,10.13,47.08
$GC,751,1.80,438.8,2895,1512,1966,4094,34.7,12.1,116,758,0.00,1.20,0.00,0.000,1030,0.000,0.026,2895,2010,1966,1966,4094,0,0,0,0,0,0,25.88,25.86,25.91,10.12,46.92
$GC,790,1.80,438.8,2895,2010,1965,4094,29.9,12.2,122,797,0.00,1.52,0.00,0.000,260,0.000,0.051,2896,2589,1965,1965,4094,0,0,0,0,0,0,26.13,25.83,26.15,10.13,47.71
$GC,852,1.80,438.8,2894,2589,1963,4094,21.8,12.8,132,859,0.00,1.42,0.00,0.000,1030,0.000,0.028,2895,2033,1963,1963,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.13,48.34
$GC,891,1.80,438.8,2895,2032,1962,4094,17.1,12.1,138,898,0.00,1.35,0.00,0.000,516,0.000,0.055,2895,1516,1962,1962,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.13,48.62
$GC,966,1.80,438.8,2894,1516,1960,4094,7.8,12.5,150,972,0.00,1.20,0.00,0.000,1030,0.000,0.027,2895,2016,1960,1960,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.15,49.33
$GC,1004,1.80,438.8,2895,2015,1958,4094,3.1,12.1,156,1011,0.00,1.50,0.00,0.000,260,0.000,0.053,2895,2571,1958,1958,4094,0,0,0,0,0,0,26.34,26.03,26.35,10.16,49.72
$STATE,1016,end climb,FINISH_DEPTH_REACHED
$STATE,1016,begin subsurface finish
$FINISH1,1.5,1.024072,106
$GC,1025,0.16,106.5,2895,2045,1958,4094,1.5,11.7,158,1038,5.15,0.00,-3.25,0.000,20742,0.033,0.000,2390,2043,2365,2365,4094,0,0,0,0,0,0,26.15,25.10,26.18,10.18,50.70
$FINISH2,0.6
$STATE,1039,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1039,begin surface
$IRIDIUM_FIX,6118.33,-17324.74,080817,194442
$TT8_MAMPS,0.025466,0.110103
$HUMID,51.37
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.03,19.414
$10V_AH,10.44,23.215
$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,23.450,14.275,50.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,424.423,246.590,142.072,233.322,53.342,33.426,318.566,0.000,241.347,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,55.080,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,10763,160
$CAP_FILE_SIZE,29210,0
$CFSIZE,1024409600,984170496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,210018,6040.931,-17335.186,7,0.8,54,7.1,0.0,59.8,9,21.4