version: 66.13
glider: 401
mission: 22
dive: 835
start: 8 10 117 21 32 45
data:
$ID,401
$MISSION,22
$DIVE,835
$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,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,34
$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
$GPS1,100817,211710,6104.0371,-17348.1055,3,0.7,17,7.0,0.0,0.0,11,4.9
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-20.4
$GPS2,100817,213136,6104.0264,-17348.1348,8,0.8,19,7.0,0.2,220.4,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.024727,0.607318
$KALMAN_X,75228.273438,-927.269226,-284.872803,-265875.218750,94.349106
$KALMAN_Y,-31474.150391,2649.482422,711.750183,229439.968750,-72.323425
$MHEAD_RNG_PITCHd_Wd,350.7,38376,-4.4,-10.000,-9.34,22572
$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,9,-1.13,-487.5,230,1952,37,4092,0.0,0.0,0,18,7.20,0.00,0.00,0.000,2049,0.054,0.000,894,1953,38,38,4094,0,0,0,0,0,0,26.23,28.83,28.83,9.96,49.33
$GC,21,-1.13,-487.5,893,1952,38,4094,0.1,0.0,1,63,11.60,1.55,-25.85,0.000,18948,0.052,1.283,1970,1404,3057,3057,4094,0,0,0,0,0,0,25.96,24.72,25.98,9.96,48.85
$GC,78,-1.13,-487.5,1969,1403,3057,4094,-0.1,0.1,10,84,0.00,1.30,0.00,0.000,1030,0.000,0.021,1970,1954,3057,3057,4095,0,0,0,0,0,0,26.03,26.02,26.06,10.60,49.80
$GC,117,-1.13,-487.5,1969,1954,3057,4095,-0.0,-0.1,16,124,0.00,1.42,0.00,0.000,516,0.000,0.054,1970,1409,3057,3057,4095,0,0,0,0,0,0,26.27,25.96,26.28,10.60,49.33
$GC,156,-1.13,-487.5,1969,1408,3057,4095,-0.1,-0.1,22,163,0.00,1.30,0.00,0.000,1030,0.000,0.024,1970,1943,3057,3057,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.60,49.25
$GC,195,-1.13,-487.5,1969,1950,3057,4094,-0.1,0.6,28,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1950,3057,3057,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.60,48.85
$GC,233,-1.13,-487.5,1969,1950,3057,4094,-0.1,0.4,34,240,0.00,1.42,0.00,0.000,516,0.000,0.054,1970,1401,3057,3057,4094,0,0,0,0,0,0,26.38,26.06,26.39,10.61,48.70
$GC,414,-1.13,-487.5,1969,1399,3057,4094,-0.1,0.2,63,420,0.00,1.30,0.00,0.000,1030,0.000,0.025,1970,1938,3057,3057,4094,0,0,0,0,0,0,26.28,26.25,26.30,10.61,48.22
$GC,453,-1.13,-487.5,1969,1945,3057,4094,-0.1,-0.1,69,460,0.00,1.40,0.00,0.000,516,0.000,0.053,1970,1402,3056,3056,4094,0,0,0,0,0,0,26.52,26.20,26.53,10.61,48.42
$GC,474,-1.13,-487.5,1969,1402,3057,4094,-0.1,0.0,72,481,0.00,1.25,0.00,0.000,1030,0.000,0.022,1970,1943,3057,3057,4095,0,0,0,0,0,0,26.33,26.31,26.35,10.61,48.77
$GC,513,-1.13,-487.5,1969,1949,3057,4095,-0.0,-0.3,78,519,0.00,1.40,0.00,0.000,516,0.000,0.054,1970,1408,3057,3057,4094,0,0,0,0,0,0,26.54,26.22,26.55,10.61,48.30
$GC,534,-1.13,-487.5,1969,1408,3057,4094,-0.1,0.1,81,541,0.00,1.23,0.00,0.000,1030,0.000,0.023,1970,1942,3057,3057,4094,0,0,0,0,0,0,26.35,26.32,26.36,10.61,48.93
$GC,573,-1.13,-487.5,1969,1942,3057,4094,-0.1,0.1,87,580,0.00,1.38,0.00,0.000,516,0.000,0.048,1970,1402,3057,3057,4094,0,0,0,0,0,0,26.56,26.26,26.58,10.62,48.26
$GC,606,-1.13,-487.5,1969,1402,3057,4094,-0.0,0.1,92,613,0.00,1.17,0.00,0.000,1030,0.000,0.024,1970,1906,3057,3057,4095,0,0,0,0,0,0,26.38,26.36,26.40,10.61,48.58
$GC,645,-1.13,-487.5,1969,1914,3057,4095,-0.1,0.0,98,652,0.00,1.45,0.00,0.000,260,0.000,0.037,1970,2471,3056,3056,4095,0,0,0,0,0,0,26.59,26.30,26.60,10.61,47.99
$GC,659,-1.13,-487.5,1969,2471,3056,4095,0.3,-2.0,100,666,0.00,1.23,0.00,0.000,1030,0.000,0.027,1970,1978,3057,3057,4095,0,0,0,0,0,0,26.37,26.35,26.40,10.61,47.95
$GC,698,-1.13,-487.5,1969,1977,3057,4095,3.4,-8.6,106,704,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1977,3057,3057,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.60,47.87
$GC,737,-1.13,-487.5,1969,1978,3058,4095,6.8,-8.7,112,743,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1978,3058,3058,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.62,47.48
$GC,775,-1.13,-487.5,1969,1977,3058,4094,10.1,-8.6,118,781,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1978,3058,3058,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.61,47.63
$GC,814,-1.13,-487.5,1969,1977,3058,4095,13.1,-7.7,124,820,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1978,3059,3059,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.61,47.20
$GC,852,-1.13,-487.5,1969,1978,3060,4094,16.1,-7.9,130,858,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1977,3060,3060,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.61,47.59
$GC,891,-1.13,-487.5,1969,1977,3060,4094,19.0,-7.4,136,897,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1978,3060,3060,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.60,47.83
$GC,929,-1.13,-487.5,1969,1977,3061,4094,21.7,-7.0,142,935,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1978,3061,3061,4095,0,0,0,0,0,0,26.68,26.69,26.69,10.60,47.28
$GC,968,-1.13,-487.5,1969,1977,3061,4095,24.1,-5.9,148,974,0.00,1.42,0.00,0.000,516,0.000,0.051,1970,1415,3062,3062,4094,0,0,0,0,0,0,26.69,26.38,26.70,10.59,47.00
$STATE,979,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,979,begin apogee
$GC,987,-0.45,0.0,1970,2135,3061,4095,24.9,-5.8,150,1023,2.20,0.00,26.48,0.894,10244,0.043,0.000,2188,2135,2483,2483,4095,0,0,0,0,0,0,26.41,25.56,25.01,10.59,47.12
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1027,1.13,487.5,2187,2135,2483,4095,26.4,0.0,156,1064,5.10,1.40,26.48,0.872,10500,0.037,0.050,2682,2671,1915,1915,4094,0,0,0,0,0,0,25.95,25.89,24.63,10.45,46.29
$GC,1078,1.99,1059.7,2682,2671,1915,4094,23.7,7.4,164,1120,2.70,1.35,30.85,0.827,11270,0.019,0.022,2965,2117,1247,1247,4094,0,0,0,0,0,0,25.66,25.65,24.41,10.33,45.23
$GC,1154,2.40,1336.3,2964,2116,1246,4094,16.1,8.7,176,1178,1.23,1.25,15.70,0.709,10756,0.024,0.042,3092,1623,925,925,4094,0,0,0,0,0,0,25.56,25.02,24.55,10.21,44.60
$GC,1285,3.17,1851.9,3091,1622,922,4094,5.0,7.7,197,1317,2.45,1.25,24.33,0.622,11266,0.022,0.024,3341,2140,387,387,4094,0,0,0,0,0,0,25.77,25.76,25.82,10.15,45.74
$STATE,1318,end climb,FINISH_DEPTH_REACHED
$STATE,1318,begin subsurface finish
$FINISH1,1.5,1.023951,115
$GC,1325,0.17,115.0,3340,2139,386,4094,1.5,13.3,202,1357,9.70,1.48,-15.88,0.000,20740,0.019,1.248,2394,2664,2356,2356,4094,0,0,0,0,0,0,25.60,24.39,25.64,10.05,45.51
$FINISH2,0.2
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,200005
$TT8_MAMPS,0.025466,0.158788
$HUMID,46.41
$INTERNAL_PRESSURE,10.3946
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,24.39,22.617
$10V_AH,10.39,26.090
$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,42.175,28.725,123.825,0.000,0.000,123.199,128.522,262.704,0.000,0.000,21.046,510.314,458.664,256.174,822.096,194.774,33.454,501.150,0.000,309.511,0.000,0.544,0.000
$DEVICE_MAMPS,53.550,1282.905,893.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,134.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,17718,207
$CAP_FILE_SIZE,49085,0
$CFSIZE,1024409600,978436096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1117.54,0x2138dc,1,24
$GPS,100817,213136,6104.026,-17348.135,8,0.8,19,7.0,0.2,220.4,10,4.8