version: 66.13
glider: 401
mission: 22
dive: 807
start: 8 10 117 8 58 11
data:
$ID,401
$MISSION,22
$DIVE,807
$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,20
$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,500
$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,2105
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$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
$GPS1,100817,081515,6100.2974,-17344.6875,7,0.8,15,7.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-4.6
$GPS2,100817,081515,6100.2974,-17344.6875,7,0.8,15,7.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.281549,0.252422
$KALMAN_X,76602.960938,-760.095703,-370.772400,-264068.625000,177.245789
$KALMAN_Y,-26943.724609,3149.899414,1142.186890,217084.750000,-75.191406
$MHEAD_RNG_PITCHd_Wd,304.8,8155,-11.3,-10.000,-14.81,6926
$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,-1.72,-462.1,2389,1947,2368,4092,0.0,0.0,0,17,6.00,0.00,-0.90,0.000,20482,0.022,0.000,1794,1947,2469,2469,4094,0,0,0,0,0,0,26.12,28.83,26.18,10.38,51.49
$GC,21,-1.72,-462.1,1794,1947,2468,4094,0.1,0.0,1,33,0.00,1.50,-5.05,0.000,16644,0.000,1.265,1794,2486,3029,3029,4094,0,0,0,0,0,0,26.35,24.89,26.36,10.39,51.49
$GC,169,-1.72,-462.1,1794,2486,3033,4094,18.2,-14.6,25,176,0.00,1.33,0.00,0.000,1030,0.000,0.026,1794,1957,3033,3033,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.52,51.81
$GC,208,-1.72,-462.1,1794,1957,3034,4095,23.4,-12.4,31,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1957,3034,3034,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.51,51.22
$GC,246,-1.72,-462.1,1794,1957,3035,4094,28.1,-12.3,37,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1957,3035,3035,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.49,50.63
$GC,284,-1.72,-462.1,1794,1957,3036,4094,32.8,-12.2,43,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1957,3036,3036,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.47,49.88
$GC,322,-1.72,-462.1,1794,1957,3037,4094,37.4,-11.8,49,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1957,3036,3036,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.45,49.25
$GC,360,-1.72,-462.1,1794,1957,3038,4095,42.0,-11.9,55,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1957,3037,3037,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.43,48.66
$GC,398,-1.72,-462.1,1794,1957,3038,4095,46.5,-11.9,61,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1957,3038,3038,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.42,47.83
$GC,436,-1.72,-462.1,1794,1957,3039,4094,51.1,-11.9,67,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,1957,3039,3039,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.40,47.04
$GC,474,-1.72,-462.1,1794,1957,3040,4095,55.7,-12.1,73,480,0.00,1.40,0.00,0.000,516,0.000,0.052,1794,1410,3040,3040,4095,0,0,0,0,0,0,26.55,26.24,26.56,10.40,47.40
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,510,begin apogee
$GC,518,-0.45,0.0,1794,2101,3041,4094,60.6,-13.1,79,554,4.18,0.00,26.67,1.278,10244,0.055,0.000,2186,2101,2483,2483,4094,0,0,0,0,0,0,26.27,25.46,24.48,10.38,46.33
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,558,1.72,462.1,2186,2101,2483,4094,63.2,0.0,85,594,7.20,0.00,26.33,1.250,11270,0.034,0.000,2877,2101,1945,1945,4094,0,0,0,0,0,0,25.70,25.84,24.03,10.27,45.74
$GC,627,1.72,462.1,2876,2101,1944,4094,57.4,12.1,96,634,0.00,1.48,0.00,0.000,260,0.000,0.052,2877,2643,1944,1944,4094,0,0,0,0,0,0,25.63,25.34,25.63,10.15,44.95
$GC,678,1.72,462.1,2876,2642,1943,4094,50.6,13.4,104,684,0.00,1.40,0.00,0.000,1030,0.000,0.026,2877,2092,1943,1943,4094,0,0,0,0,0,0,25.64,25.61,25.65,10.14,45.82
$GC,717,1.72,462.1,2877,2091,1941,4094,45.6,13.1,110,723,0.00,1.38,0.00,0.000,516,0.000,0.050,2877,1570,1941,1941,4094,0,0,0,0,0,0,25.94,25.65,25.95,10.13,46.14
$GC,791,1.72,462.1,2876,1569,1940,4094,35.7,13.0,122,798,0.00,1.23,0.00,0.000,1030,0.000,0.026,2877,2073,1939,1939,4094,0,0,0,0,0,0,25.88,25.85,25.90,10.13,45.90
$GC,830,1.72,462.1,2877,2072,1938,4094,30.7,13.3,128,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2073,1938,1938,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.14,46.22
$GC,868,1.72,462.1,2877,2073,1937,4094,25.9,12.8,134,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2073,1937,1937,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.15,46.81
$GC,906,1.72,462.1,2876,2073,1936,4094,21.2,12.4,140,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2073,1936,1936,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.17,47.79
$GC,944,1.72,462.1,2876,2073,1935,4094,16.5,12.4,146,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2073,1934,1934,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.18,48.93
$GC,982,1.72,462.1,2877,2073,1934,4094,12.1,11.3,152,989,0.00,1.33,0.00,0.000,516,0.000,0.050,2877,1572,1933,1933,4094,0,0,0,0,0,0,26.31,26.00,26.32,10.21,50.43
$GC,1027,1.72,462.1,2876,1572,1933,4094,7.3,10.7,159,1033,0.00,1.17,0.00,0.000,1030,0.000,0.026,2877,2065,1932,1932,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.23,51.33
$GC,1066,1.72,462.1,2876,2065,1931,4094,3.4,10.1,165,1072,0.00,1.52,0.00,0.000,260,0.000,0.058,2877,2629,1931,1931,4094,0,0,0,0,0,0,26.38,26.06,26.39,10.24,51.29
$STATE,1084,end climb,SURFACE_DEPTH_REACHED
$STATE,1084,begin surface coast
$FINISH,0.0,1.003196
$STATE,1097,end surface coast,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$SM_CCo,1197,0.00,0.000,0,0,1930,476.52
$SM_GC,1.03,27.12,1.75,0.00,0.022,0.030,0.000,238,1956,1930,-6.55,1.41,476.52,0,0,0,0,0,0,26.19,26.13,26.22
$IRIDIUM_FIX,6149.06,-17422.35,100817,065751
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.83
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.03,21.747
$10V_AH,10.44,25.333
$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,44.500,17.500,53.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.263,328.662,169.039,247.314,64.343,33.417,353.910,0.000,255.269,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1265.310,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14301,170
$CAP_FILE_SIZE,31990,0
$CFSIZE,1024409600,979845120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,091858,6100.698,-17344.906,9,0.8,14,7.1,0.0,0.0,9,5.0