version: 66.13
glider: 401
mission: 22
dive: 840
start: 8 10 117 23 40 29
data:
$ID,401
$MISSION,22
$DIVE,840
$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,34
$R_STBD_OVSHOOT,50
$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
$GPS1,100817,224910,6104.2822,-17347.9531,9,0.9,18,7.0,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-3.5
$GPS2,100817,224910,6104.2822,-17347.9531,9,0.9,18,7.0,0.0,0.0,9,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.004935,0.317734
$KALMAN_X,75256.500000,-807.017700,-153.986115,-265979.375000,18.839340
$KALMAN_Y,-33080.855469,2484.631836,567.424194,231840.687500,-245.411133
$MHEAD_RNG_PITCHd_Wd,352.1,37890,-14.3,-10.000,-17.47,4589
$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,-1.76,-304.0,2399,1985,2352,4092,0.0,0.0,0,20,6.22,0.00,-3.03,0.000,20482,0.024,0.000,1781,1985,2686,2686,4095,0,0,0,0,0,0,26.25,28.83,26.29,10.38,53.54
$GC,24,-1.76,-304.0,1781,1985,2686,4095,0.0,0.0,1,33,0.00,1.52,-1.38,0.000,16900,0.000,1.279,1780,1427,2842,2842,4094,0,0,0,0,0,0,26.46,24.94,26.42,10.45,53.81
$GC,57,-2.03,-487.5,1780,1426,2843,4094,1.9,-4.8,5,67,0.68,1.20,-1.15,0.000,21510,0.022,0.025,1706,1958,3061,3061,4094,0,0,0,0,0,0,26.13,26.12,26.15,10.49,53.03
$GC,104,-2.03,-487.5,1706,1958,3062,4094,9.4,-18.5,11,112,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,1958,3062,3062,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.54,52.87
$GC,149,-2.03,-487.5,1705,1958,3064,4094,18.5,-20.1,17,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,1958,3064,3064,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.54,52.63
$GC,194,-2.03,-487.5,1705,1958,3065,4094,26.7,-17.8,23,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,1958,3066,3066,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.53,52.32
$GC,239,-2.03,-487.5,1705,1958,3066,4094,32.9,-11.7,29,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,1958,3066,3066,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.49,51.37
$GC,285,-2.03,-487.5,1705,1959,3067,4094,37.1,-9.5,35,294,0.00,1.40,0.00,0.000,516,0.000,0.054,1705,1425,3067,3067,4094,0,0,0,0,0,0,26.45,26.14,26.46,10.48,51.06
$GC,436,-2.03,-487.5,1705,1425,3070,4094,51.9,-9.9,57,446,0.00,1.23,0.00,0.000,1030,0.000,0.025,1706,1956,3069,3069,4095,0,0,0,0,0,0,26.34,26.32,26.35,10.42,48.42
$GC,483,-2.03,-487.5,1705,1956,3070,4095,56.6,-10.2,63,491,0.00,1.35,0.00,0.000,260,0.000,0.044,1706,2472,3070,3070,4095,0,0,0,0,0,0,26.55,26.26,26.57,10.41,47.63
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,526,-0.45,0.0,1705,2121,3071,4095,60.6,-10.3,68,563,5.12,0.00,28.23,1.264,10244,0.058,0.000,2185,2117,2483,2483,4094,0,0,0,0,0,0,26.28,25.44,24.44,10.40,47.83
$STATE,564,end apogee,CONTROL_FINISHED_OK
$STATE,564,begin climb
$GC,567,2.03,487.5,2184,2117,2484,4094,62.8,0.0,72,611,8.27,0.00,27.73,1.235,11270,0.031,0.000,2974,2117,1917,1917,4094,0,0,0,0,0,0,25.67,25.82,24.03,10.29,46.53
$GC,650,2.03,487.5,2973,2117,1915,4094,54.5,17.0,82,659,0.00,1.27,0.00,0.000,516,0.000,0.046,2974,1635,1915,1915,4094,0,0,0,0,0,0,25.69,25.41,25.70,10.16,45.82
$GC,730,2.03,487.5,2973,1634,1912,4094,40.0,17.6,93,739,0.00,1.08,0.00,0.000,1030,0.000,0.027,2974,2076,1911,1911,4094,0,0,0,0,0,0,25.77,25.72,25.79,10.15,45.82
$GC,777,2.03,487.5,2973,2075,1910,4094,31.5,17.9,99,787,0.00,1.55,0.00,0.000,260,0.000,0.054,2974,2652,1909,1909,4094,0,0,0,0,0,0,26.06,25.75,26.07,10.16,46.06
$GC,830,2.03,487.5,2973,2651,1907,4094,21.8,17.2,106,839,0.00,1.35,0.00,0.000,1030,0.000,0.027,2974,2110,1907,1907,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.19,48.11
$GC,876,2.03,487.5,2973,2109,1906,4094,14.1,16.0,112,886,0.00,1.33,0.00,0.000,516,0.000,0.049,2974,1603,1905,1905,4094,0,0,0,0,0,0,26.20,25.90,26.22,10.22,49.80
$STATE,958,end climb,SURFACE_DEPTH_REACHED
$STATE,959,begin surface coast
$FINISH,0.0,1.001400
$STATE,973,end surface coast,CONTROL_FINISHED_OK
$STATE,974,begin surface
$SM_CCo,1073,0.00,0.000,0,0,1902,501.42
$SM_GC,0.79,28.15,0.82,0.00,0.019,0.026,0.000,232,1938,1902,-6.59,-2.05,501.42,0,0,0,0,0,0,25.98,26.11,26.08
$IRIDIUM_FIX,6149.06,-17422.35,100817,212611
$TT8_MAMPS,0.025466,0.25466
$HUMID,52.12
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.03,22.748
$10V_AH,10.19,26.228
$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,48.450,15.775,55.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,364.832,60.041,129.378,525.802,56.189,33.421,332.083,0.000,309.174,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,1279.080,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.149,342.383,270.875,401.487,524.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,14297,126
$CAP_FILE_SIZE,26016,0
$CFSIZE,1024409600,978223104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,235919,6104.476,-17348.145,4,0.8,20,7.0,0.5,243.7,11,4.9