version: 66.13
glider: 401
mission: 22
dive: 723
start: 8 8 117 22 47 55
data:
$ID,401
$MISSION,22
$DIVE,723
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,080817,220749,6041.4375,-17335.7422,6,0.8,13,7.1,0.0,240.7,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-3.5
$GPS2,080817,220749,6041.4375,-17335.7422,6,0.8,13,7.1,0.0,240.7,10,4.6
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.081496,0.384057
$KALMAN_X,67855.046875,-262.092834,117.184265,-247835.515625,-3.868813
$KALMAN_Y,-28561.863281,1289.233276,836.375183,185942.531250,-125.586975
$MHEAD_RNG_PITCHd_Wd,340.9,43556,-12.6,-11.111,-15.80,6196
$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,-438.8,2394,1949,2366,4092,0.0,0.0,0,17,6.40,0.00,-0.57,0.000,20482,0.023,0.000,1762,1949,2431,2431,4095,0,0,0,0,0,0,26.09,28.83,26.13,10.31,52.04
$GC,21,-1.80,-438.8,1762,1949,2431,4095,0.2,0.0,1,33,0.00,1.50,-5.22,0.000,16644,0.000,1.274,1762,2477,3003,3003,4095,0,0,0,0,0,0,26.29,24.83,26.30,10.33,51.61
$GC,77,-1.80,-438.8,1761,2477,3004,4095,5.2,-13.9,10,84,0.00,1.35,0.00,0.000,1030,0.000,0.028,1762,1949,3003,3003,4095,0,0,0,0,0,0,26.02,25.98,26.03,10.45,52.04
$GC,116,-1.80,-438.8,1761,1950,3004,4095,10.6,-14.0,16,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3005,3005,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.42,51.29
$GC,154,-1.80,-438.8,1761,1950,3006,4095,16.3,-15.0,22,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3006,3006,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.41,50.94
$GC,191,-1.80,-438.8,1761,1950,3007,4095,22.0,-15.6,28,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3007,3007,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.39,51.41
$GC,229,-1.80,-438.8,1761,1950,3008,4094,27.7,-14.8,34,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3008,3008,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.38,50.66
$GC,267,-1.80,-438.8,1761,1950,3009,4095,33.3,-14.5,40,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3009,3009,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,49.60
$GC,305,-1.80,-438.8,1761,1950,3010,4095,38.9,-14.7,46,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3010,3010,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,49.37
$GC,342,-1.80,-438.8,1761,1949,3011,4094,44.3,-14.5,52,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3012,3012,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.38,49.60
$GC,380,-1.80,-438.8,1761,1950,3012,4095,49.6,-13.6,58,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3012,3012,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.37,49.84
$GC,418,-1.80,-438.8,1761,1949,3013,4095,54.6,-13.2,64,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3013,3013,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.36,48.62
$GC,456,-1.80,-438.8,1761,1949,3014,4095,60.0,-14.3,70,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3014,3014,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.36,48.42
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,473,-0.45,0.0,1761,2067,3015,4094,61.9,-14.6,72,509,4.53,0.00,25.73,1.302,10244,0.058,0.000,2185,2067,2484,2484,4095,0,0,0,0,0,0,26.20,25.40,24.39,10.35,48.70
$STATE,510,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,513,1.80,438.8,2184,2066,2484,4095,64.6,0.0,78,549,7.53,0.00,25.30,1.274,11270,0.034,0.000,2898,2067,1972,1972,4094,0,0,0,0,0,0,25.63,25.79,23.99,10.23,48.14
$GC,581,1.80,438.8,2897,2066,1971,4094,59.0,11.9,89,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2067,1971,1971,4095,0,0,0,0,0,0,25.58,25.58,25.58,10.12,46.69
$GC,619,1.80,438.8,2897,2066,1970,4095,54.1,12.9,95,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2067,1970,1970,4094,0,0,0,0,0,0,25.74,25.76,25.75,10.12,47.24
$GC,657,1.80,438.8,2897,2067,1969,4094,48.8,13.9,101,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2067,1968,1968,4094,0,0,0,0,0,0,25.86,25.86,25.86,10.11,47.08
$GC,694,1.80,438.8,2897,2066,1968,4094,43.4,14.5,107,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2067,1967,1967,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.12,47.36
$GC,732,1.80,438.8,2897,2066,1967,4094,38.4,13.4,113,739,0.00,1.48,0.00,0.000,516,0.000,0.052,2898,1516,1966,1966,4094,0,0,0,0,0,0,26.01,25.71,26.03,10.12,47.44
$GC,789,1.80,438.8,2897,1516,1965,4094,31.1,13.0,122,795,0.00,1.23,0.00,0.000,1030,0.000,0.026,2898,2022,1965,1965,4095,0,0,0,0,0,0,25.90,25.87,25.91,10.12,47.83
$GC,828,1.80,438.8,2897,2021,1964,4095,26.1,13.1,128,834,0.00,1.50,0.00,0.000,260,0.000,0.052,2898,2575,1962,1962,4094,0,0,0,0,0,0,26.15,25.84,26.16,10.12,48.11
$GC,884,1.80,438.8,2897,2574,1962,4094,18.9,13.0,137,891,0.00,1.35,0.00,0.000,1030,0.000,0.028,2898,2045,1961,1961,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.12,48.85
$GC,923,1.80,438.8,2897,2044,1961,4094,14.0,12.5,143,930,0.00,1.38,0.00,0.000,516,0.000,0.055,2898,1518,1961,1961,4094,0,0,0,0,0,0,26.25,25.94,26.27,10.13,49.05
$GC,985,1.80,438.8,2897,1518,1958,4094,6.2,12.0,153,992,0.00,1.25,0.00,0.000,1030,0.000,0.027,2898,2037,1958,1958,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.14,49.80
$STATE,1022,end climb,SURFACE_DEPTH_REACHED
$STATE,1022,begin surface coast
$FINISH,0.1,1.001570
$STATE,1041,end surface coast,CONTROL_FINISHED_OK
$STATE,1041,begin surface
$SM_CCo,1139,0.00,0.000,0,0,1957,453.34
$SM_GC,1.22,27.42,0.22,0.00,0.022,0.057,0.000,237,1942,1957,-6.55,1.18,453.34,0,0,0,0,0,0,26.15,26.12,26.17
$IRIDIUM_FIX,5952.82,-17420.78,080817,205213
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.59
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.99,19.509
$10V_AH,10.42,23.301
$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,45.875,13.150,51.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.815,304.984,171.872,236.129,58.984,33.417,353.762,0.000,244.192,0.000,0.541,0.000
$DEVICE_MAMPS,58.140,1273.725,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,10895,162
$CAP_FILE_SIZE,31699,0
$CFSIZE,1024409600,983973888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,230757,6041.958,-17336.367,4,1.0,27,7.1,0.0,283.3,9,4.9