version: 66.13
glider: 401
mission: 22
dive: 865
start: 8 11 117 11 43 27
data:
$ID,401
$MISSION,22
$DIVE,865
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,110817,113336,6108.7041,-17347.2539,94,1.1,99,7.0,0.6,91.5,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-22.4
$GPS2,110817,114218,6108.6392,-17347.1660,8,0.8,17,7.0,0.5,156.8,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.037786,0.547878
$KALMAN_X,74011.507812,-428.891815,204.746185,-264730.812500,82.066345
$KALMAN_Y,-38355.906250,2478.204102,709.586731,245052.625000,-275.340393
$MHEAD_RNG_PITCHd_Wd,349.1,29790,-5.7,-10.000,-10.32,17432
$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,-1.25,-487.5,230,1974,1336,4092,0.0,0.0,0,18,7.03,0.00,0.00,0.000,2049,0.065,0.000,865,1971,1336,1336,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.21,51.06
$GC,21,-1.25,-487.5,864,1971,1336,4094,0.3,0.0,1,57,11.45,1.55,-15.55,0.000,18948,0.050,1.286,1933,1413,3057,3057,4095,0,0,0,0,0,0,25.97,24.71,26.04,10.21,51.02
$GC,164,-1.25,-487.5,1933,1412,3056,4095,-0.1,0.4,24,171,0.00,1.27,0.00,0.000,1030,0.000,0.022,1933,1952,3057,3057,4095,0,0,0,0,0,0,26.06,26.03,26.07,10.59,50.78
$GC,203,-1.25,-487.5,1933,1959,3056,4095,-0.1,-0.4,30,209,0.00,1.40,0.00,0.000,516,0.000,0.047,1933,1403,3056,3056,4095,0,0,0,0,0,0,26.29,26.03,26.31,10.59,50.90
$GC,350,-1.25,-487.5,1933,1403,3059,4095,12.3,-10.7,54,356,0.00,1.30,0.00,0.000,1030,0.000,0.024,1933,1957,3059,3059,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.59,49.72
$GC,389,-1.25,-487.5,1932,1957,3060,4095,16.0,-9.1,60,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1957,3060,3060,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.59,49.09
$GC,427,-1.25,-487.5,1933,1957,3060,4094,19.4,-8.9,66,434,0.00,1.35,0.00,0.000,260,0.000,0.045,1933,2471,3060,3060,4095,0,0,0,0,0,0,26.46,26.15,26.48,10.59,49.25
$GC,448,-1.25,-487.5,1933,2471,3060,4095,21.3,-8.8,69,455,0.00,1.30,0.00,0.000,1030,0.000,0.025,1933,1946,3060,3060,4094,0,0,0,0,0,0,26.25,26.22,26.28,10.58,49.17
$GC,488,-1.25,-487.5,1933,1946,3061,4094,24.2,-6.9,75,494,0.00,1.35,0.00,0.000,516,0.000,0.053,1933,1419,3061,3061,4095,0,0,0,0,0,0,26.49,26.19,26.51,10.57,48.89
$GC,502,-1.25,-487.5,1933,1419,3061,4095,25.2,-6.6,77,509,0.00,1.23,0.00,0.000,1030,0.000,0.024,1933,1951,3061,3061,4095,0,0,0,0,0,0,26.31,26.28,26.32,10.56,48.66
$GC,542,-1.25,-487.5,1932,1951,3061,4095,27.8,-6.9,83,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1951,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.54,48.34
$GC,580,-1.25,-487.5,1933,1951,3061,4095,30.6,-7.2,89,587,0.00,1.35,0.00,0.000,260,0.000,0.044,1933,2468,3062,3062,4094,0,0,0,0,0,0,26.54,26.24,26.55,10.52,47.95
$GC,602,-1.25,-487.5,1933,2468,3062,4094,32.1,-6.9,92,608,0.00,1.25,0.00,0.000,1030,0.000,0.025,1933,1961,3062,3062,4095,0,0,0,0,0,0,26.32,26.29,26.34,10.51,47.51
$GC,641,-1.25,-487.5,1933,1961,3063,4095,34.8,-7.0,98,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,1961,3063,3063,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.49,46.81
$GC,679,-1.25,-487.5,1933,1961,3063,4094,37.4,-6.7,104,685,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1961,3063,3063,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.47,46.69
$GC,718,-1.25,-487.5,1932,1961,3064,4094,40.0,-6.7,110,724,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1961,3064,3064,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.45,45.66
$GC,756,-1.25,-487.5,1932,1961,3064,4094,42.7,-6.9,116,762,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1961,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.44,45.58
$GC,795,-1.25,-487.5,1932,1961,3065,4094,45.4,-7.2,122,801,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1961,3064,3064,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.43,45.47
$GC,833,-1.25,-487.5,1933,1961,3065,4095,48.1,-7.0,128,839,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1961,3066,3066,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.42,44.95
$GC,872,-1.25,-487.5,1933,1961,3066,4095,50.9,-7.0,134,878,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1961,3066,3066,4095,0,0,0,0,0,0,26.64,26.66,26.65,10.41,44.29
$GC,910,-1.25,-487.5,1933,1961,3066,4095,53.7,-7.2,140,916,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1961,3066,3066,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.40,44.25
$GC,949,-1.25,-487.5,1933,1961,3067,4094,56.5,-7.6,146,955,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,1961,3067,3067,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.39,44.80
$STATE,966,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,966,begin apogee
$GC,974,-0.45,0.0,1933,2134,3067,4095,58.1,-7.6,149,1009,2.60,0.00,27.77,1.251,10244,0.047,0.000,2186,2134,2484,2484,4093,0,0,0,0,0,0,26.39,25.53,24.54,10.39,44.48
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1013,1.25,487.5,2186,2134,2484,4093,59.9,0.0,155,1050,5.65,0.00,27.52,1.227,11270,0.036,0.000,2725,2134,1915,1915,4094,0,0,0,0,0,0,25.74,25.93,24.09,10.27,44.05
$GC,1082,2.10,1054.5,2725,2134,1916,4094,56.4,6.7,166,1124,2.72,1.40,31.90,1.178,10756,0.022,0.043,2994,1607,1255,1255,4094,0,0,0,0,0,0,25.48,24.58,23.94,10.15,43.73
$GC,1181,2.10,1054.5,2994,1606,1253,4094,45.2,10.2,182,1187,0.00,1.25,0.00,0.000,1030,0.000,0.025,2994,2109,1253,1253,4094,0,0,0,0,0,0,25.46,25.44,25.48,9.99,43.58
$GC,1220,2.10,1054.5,2993,2108,1251,4094,41.3,10.1,188,1226,0.00,1.52,0.00,0.000,260,0.000,0.055,2994,2676,1252,1252,4094,0,0,0,0,0,0,25.79,25.49,25.81,9.99,44.01
$GC,1247,2.10,1054.5,2994,2676,1252,4094,38.5,10.4,192,1253,0.00,1.42,0.00,0.000,1030,0.000,0.026,2994,2107,1251,1251,4094,0,0,0,0,0,0,25.67,25.65,25.69,9.99,44.84
$GC,1286,2.14,1080.2,2993,2107,1250,4094,34.6,9.8,198,1294,0.00,1.30,3.05,0.380,8708,0.000,0.047,2994,1613,1225,1225,4094,0,0,0,0,0,0,25.96,25.58,24.68,9.99,44.99
$GC,1362,2.45,1284.3,2993,1612,1223,4094,27.6,8.8,210,1383,1.05,1.20,12.20,0.812,11270,0.022,0.025,3105,2106,987,987,4094,0,0,0,0,0,0,25.86,25.84,24.72,10.00,45.98
$GC,1415,2.45,1284.3,3105,2105,986,4094,21.8,10.8,218,1422,0.00,1.52,0.00,0.000,260,0.000,0.057,3106,2662,986,986,4094,0,0,0,0,0,0,25.96,25.66,25.98,9.98,47.95
$GC,1442,2.45,1284.3,3105,2662,985,4094,19.0,10.7,222,1449,0.00,1.42,0.00,0.000,1030,0.000,0.027,3106,2093,985,985,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.01,49.37
$GC,1481,2.63,1407.0,3105,2093,984,4094,15.3,9.3,228,1495,0.52,1.27,7.95,0.638,10756,0.031,0.048,3172,1609,843,843,4094,0,0,0,0,0,0,25.89,25.65,24.91,10.01,50.15
$GC,1546,2.63,1407.0,3172,1608,840,4094,8.1,12.5,238,1552,0.00,1.15,0.00,0.000,1030,0.000,0.026,3172,2086,840,840,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.01,51.57
$STATE,1582,end climb,FINISH_DEPTH_REACHED
$STATE,1582,begin subsurface finish
$FINISH1,1.3,1.023714,132
$GC,1591,0.20,131.5,3172,2150,837,4094,1.3,17.5,244,1616,7.80,1.48,-12.88,0.000,20996,0.023,1.260,2402,1604,2337,2337,4095,0,0,0,0,0,0,25.96,24.69,25.99,10.02,52.36
$FINISH2,0.1
$STATE,1617,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1617,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,101034
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.11
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.94,23.601
$10V_AH,10.36,26.953
$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,38.825,28.800,110.400,0.000,0.000,24.319,19.721,315.831,0.000,0.000,18.923,621.441,367.600,247.774,715.900,204.614,33.482,523.927,0.000,367.387,0.000,0.543,0.000
$DEVICE_MAMPS,65.025,1285.965,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,164.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,17846,248
$CAP_FILE_SIZE,52525,0
$CFSIZE,1024409600,976945152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110817,114218,6108.639,-17347.166,8,0.8,17,7.0,0.5,156.8,10,4.8