version: 66.13
glider: 401
mission: 22
dive: 855
start: 8 11 117 7 0 30
data:
$ID,401
$MISSION,22
$DIVE,855
$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,24
$R_STBD_OVSHOOT,52
$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
$GPS1,110817,060825,6106.5723,-17350.2461,5,0.8,19,7.0,0.0,343.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.3
$GPS2,110817,060825,6106.5723,-17350.2461,5,0.8,19,7.0,0.0,343.8,11,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.086354,0.427773
$KALMAN_X,71841.570312,-995.746887,-332.591064,-264365.812500,-33.178650
$KALMAN_Y,-36737.429688,2278.616699,539.442383,239980.765625,-103.594788
$MHEAD_RNG_PITCHd_Wd,4.4,33930,-9.0,-10.000,-12.91,9816
$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,-1.55,-487.5,2396,1953,2352,4092,0.0,0.0,0,18,5.60,0.00,-1.50,0.000,20482,0.028,0.000,1838,1953,2518,2518,4094,0,0,0,0,0,0,26.19,28.83,26.22,10.37,53.34
$GC,22,-1.55,-487.5,1838,1953,2519,4094,0.0,0.0,1,34,0.00,1.42,-4.85,0.000,16644,0.000,1.276,1838,2460,3057,3057,4095,0,0,0,0,0,0,26.37,24.85,26.38,10.40,52.91
$GC,85,-1.55,-487.5,1837,2459,3057,4095,5.9,-12.2,11,91,0.00,1.30,0.00,0.000,1030,0.000,0.028,1838,1949,3057,3057,4094,0,0,0,0,0,0,26.08,26.06,26.09,10.53,52.63
$GC,123,-1.55,-487.5,1837,1949,3058,4094,10.2,-11.5,17,130,0.00,1.40,0.00,0.000,516,0.000,0.054,1838,1409,3058,3058,4095,0,0,0,0,0,0,26.34,26.03,26.35,10.53,52.87
$GC,150,-1.55,-487.5,1837,1409,3059,4095,13.7,-12.8,21,157,0.00,1.25,0.00,0.000,1030,0.000,0.026,1838,1940,3059,3059,4095,0,0,0,0,0,0,26.14,26.13,26.18,10.53,53.18
$GC,190,-1.55,-487.5,1837,1939,3060,4095,17.7,-10.0,27,196,0.00,1.40,0.00,0.000,516,0.000,0.053,1838,1409,3060,3060,4094,0,0,0,0,0,0,26.39,26.07,26.40,10.53,52.04
$GC,216,-1.55,-487.5,1837,1409,3060,4094,20.8,-10.9,31,223,0.00,1.23,0.00,0.000,1030,0.000,0.026,1838,1929,3060,3060,4094,0,0,0,0,0,0,26.20,26.18,26.22,10.53,52.55
$GC,255,-1.55,-487.5,1837,1928,3061,4094,25.2,-11.4,37,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1929,3061,3061,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.52,52.36
$GC,294,-1.55,-487.5,1837,1929,3061,4094,29.1,-9.7,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1930,3062,3062,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.49,52.04
$GC,332,-1.55,-487.5,1837,1930,3062,4094,33.0,-10.3,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1930,3062,3062,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.47,50.82
$GC,370,-1.55,-487.5,1837,1931,3063,4094,36.9,-10.0,55,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1932,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.45,49.92
$GC,408,-1.55,-487.5,1837,1931,3064,4095,40.8,-10.3,61,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1931,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.43,49.37
$GC,446,-1.55,-487.5,1837,1931,3065,4095,44.9,-10.5,67,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1932,3065,3065,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.43,48.38
$GC,484,-1.55,-487.5,1837,1931,3066,4094,48.9,-10.7,73,491,0.00,1.42,0.00,0.000,260,0.000,0.044,1838,2472,3065,3065,4095,0,0,0,0,0,0,26.56,26.25,26.57,10.40,47.63
$GC,511,-1.55,-487.5,1837,2472,3066,4095,51.7,-10.5,77,518,0.00,1.38,0.00,0.000,1030,0.000,0.028,1838,1925,3066,3066,4095,0,0,0,0,0,0,26.34,26.31,26.36,10.40,47.44
$GC,550,-1.55,-487.5,1837,1925,3067,4095,55.8,-10.5,83,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1925,3067,3067,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.40,47.36
$GC,588,-1.55,-487.5,1837,1925,3067,4094,59.8,-10.7,89,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1925,3067,3067,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.39,47.36
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,606,-0.45,0.0,1837,2137,3068,4095,61.2,-10.3,91,645,3.65,0.00,27.75,1.271,10244,0.051,0.000,2186,2137,2485,2485,4094,0,0,0,0,0,0,26.32,25.19,24.49,10.39,47.44
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,649,1.55,487.5,2186,2137,2485,4094,63.4,0.0,97,690,6.62,0.00,27.67,1.246,11270,0.033,0.000,2822,2137,1915,1915,4094,0,0,0,0,0,0,25.70,25.86,24.04,10.27,46.49
$GC,722,1.55,487.5,2821,2137,1915,4094,58.2,10.1,109,729,0.00,1.42,0.00,0.000,516,0.000,0.044,2822,1606,1915,1915,4094,0,0,0,0,0,0,25.65,25.38,25.66,10.14,46.10
$GC,779,1.55,487.5,2821,1605,1914,4094,52.2,10.3,118,786,0.00,1.25,0.00,0.000,1030,0.000,0.026,2822,2110,1913,1913,4094,0,0,0,0,0,0,25.67,25.65,25.70,10.14,46.06
$GC,818,1.55,487.5,2821,2110,1913,4094,48.2,10.5,124,825,0.00,1.52,0.00,0.000,260,0.000,0.054,2822,2686,1913,1913,4095,0,0,0,0,0,0,25.97,25.67,25.98,10.13,46.81
$GC,845,1.55,487.5,2821,2686,1912,4095,45.4,10.6,128,852,0.00,1.50,0.00,0.000,1030,0.000,0.027,2822,2087,1911,1911,4094,0,0,0,0,0,0,25.85,25.79,25.87,10.12,46.10
$GC,884,1.55,488.8,2821,2086,1911,4094,41.5,10.0,134,891,0.00,1.25,0.00,0.000,516,0.000,0.049,2822,1608,1911,1911,4094,0,0,0,0,0,0,26.10,25.80,26.10,10.12,46.61
$GC,959,1.59,515.6,2821,1607,1909,4094,34.0,9.7,146,967,0.00,1.15,3.10,0.389,9222,0.000,0.026,2822,2084,1883,1883,4094,0,0,0,0,0,0,26.00,25.97,24.89,10.11,47.12
$GC,999,1.59,515.6,2821,2084,1881,4094,30.1,10.1,152,1006,0.00,1.58,0.00,0.000,260,0.000,0.054,2822,2676,1882,1882,4094,0,0,0,0,0,0,26.22,25.91,26.23,10.11,47.40
$GC,1032,1.59,515.6,2821,2676,1881,4094,26.6,10.3,157,1039,0.00,1.50,0.00,0.000,1030,0.000,0.028,2822,2072,1881,1881,4094,0,0,0,0,0,0,26.08,26.01,26.10,10.13,48.42
$GC,1072,1.65,553.1,2821,2073,1880,4094,22.9,9.6,163,1080,0.20,1.23,3.75,0.447,10756,0.049,0.048,2853,1599,1838,1838,4094,0,0,0,0,0,0,26.09,25.89,25.06,10.14,48.70
$GC,1167,1.79,644.5,2852,1598,1836,4094,14.4,9.0,178,1180,0.32,1.10,6.22,0.579,11270,0.028,0.026,2893,2061,1731,1731,4094,0,0,0,0,0,0,26.14,26.11,25.17,10.17,51.49
$GC,1213,1.83,675.3,2892,2061,1730,4094,10.0,9.7,185,1222,0.10,1.65,3.42,0.345,10500,0.081,0.054,2910,2674,1695,1695,4094,0,0,0,0,0,0,26.10,25.94,25.20,10.18,52.16
$GC,1254,1.83,675.3,2910,2673,1694,4094,5.8,10.2,191,1261,0.00,1.50,0.00,0.000,1030,0.000,0.028,2911,2062,1694,1694,4094,0,0,0,0,0,0,26.14,26.07,26.16,10.18,52.83
$GC,1293,1.99,782.7,2910,2061,1693,4094,2.2,8.9,197,1301,0.43,0.00,5.07,0.434,10754,0.035,0.000,2963,2061,1616,1616,4094,0,0,0,0,0,0,26.14,28.83,26.16,10.19,52.99
$STATE,1302,end climb,SURFACE_DEPTH_REACHED
$STATE,1303,begin surface coast
$FINISH,0.0,1.011717
$STATE,1321,end surface coast,CONTROL_FINISHED_OK
$STATE,1321,begin surface
$SM_CCo,1420,0.00,0.000,0,0,1616,746.12
$SM_GC,0.58,28.10,0.25,0.00,0.020,0.054,0.000,229,1942,1616,-6.59,1.37,746.12,0,0,0,0,0,0,26.03,26.12,26.12
$IRIDIUM_FIX,6149.06,-17422.35,110817,043543
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.62
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.60
$XPDR_PINGS,1
$24V_AH,24.04,23.271
$10V_AH,10.44,26.663
$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,45.025,28.775,77.000,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,534.698,361.847,208.891,292.352,84.797,33.421,433.909,0.000,299.351,0.000,0.543,0.000
$DEVICE_MAMPS,81.090,1276.020,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,134.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,14261,201
$CAP_FILE_SIZE,43624,0
$CFSIZE,1024409600,977469440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,617.59,0x236164,2,24
$GPS,110817,072526,6107.633,-17349.426,4,1.0,39,7.0,0.4,123.1,9,4.9