version: 66.13
glider: 401
mission: 22
dive: 875
start: 8 11 117 16 12 35
data:
$ID,401
$MISSION,22
$DIVE,875
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,61
$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
$GPS1,110817,154949,6108.6089,-17348.1211,5,0.8,34,7.0,0.3,214.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.9
$GPS2,110817,154949,6108.6089,-17348.1211,5,0.8,34,7.0,0.3,214.2,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.141458,0.564193
$KALMAN_X,72869.812500,-436.087250,22.505428,-264298.718750,-105.476189
$KALMAN_Y,-42085.140625,1914.738281,205.966461,249786.687500,-167.536133
$MHEAD_RNG_PITCHd_Wd,7.1,29933,-4.9,-10.000,-9.76,20173
$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,-1.18,-487.5,2399,1978,2345,4092,0.0,0.0,0,23,4.25,0.00,-6.70,0.000,20486,0.026,0.000,1978,1979,3057,3057,4095,0,0,0,0,0,0,26.15,25.04,26.20,10.37,52.12
$GC,26,-1.18,-487.5,1977,1979,3056,4095,-0.0,0.3,2,33,0.00,1.15,0.00,0.000,516,0.000,0.054,1977,1534,3057,3057,4095,0,0,0,0,0,0,26.34,26.03,26.34,10.53,52.71
$GC,263,-1.18,-487.5,1977,1534,3060,4095,17.0,-7.9,41,270,0.00,0.90,0.00,0.000,1030,0.000,0.024,1978,1944,3059,3059,4094,0,0,0,0,0,0,26.33,26.31,26.34,10.54,52.44
$GC,303,-1.18,-487.5,1977,1944,3059,4094,19.8,-7.2,47,310,0.00,1.05,0.00,0.000,260,0.000,0.041,1977,2354,3060,3060,4095,0,0,0,0,0,0,26.53,26.25,26.54,10.53,51.41
$GC,342,-1.18,-487.5,1977,2354,3061,4095,22.2,-6.0,53,349,0.00,0.95,0.00,0.000,1030,0.000,0.028,1977,1970,3061,3061,4095,0,0,0,0,0,0,26.32,26.31,26.34,10.51,51.49
$GC,382,-1.18,-487.5,1977,1969,3061,4095,24.6,-5.9,59,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1970,3061,3061,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.49,51.26
$GC,420,-1.18,-487.5,1977,1970,3061,4095,26.8,-5.9,65,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1970,3062,3062,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.47,49.80
$GC,458,-1.18,-487.5,1977,1970,3062,4094,28.9,-5.4,71,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1970,3061,3061,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.45,48.89
$GC,497,-1.18,-487.5,1977,1970,3062,4095,31.3,-6.3,77,504,0.00,1.12,0.00,0.000,516,0.000,0.050,1977,1523,3062,3062,4095,0,0,0,0,0,0,26.60,26.29,26.61,10.43,48.03
$GC,524,-1.18,-487.5,1977,1522,3062,4095,33.0,-6.3,81,531,0.00,0.95,0.00,0.000,1030,0.000,0.024,1977,1952,3062,3062,4095,0,0,0,0,0,0,26.42,26.40,26.43,10.43,47.75
$GC,563,-1.18,-487.5,1977,1951,3063,4095,35.5,-6.0,87,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1952,3063,3063,4095,0,0,0,0,0,0,26.63,26.64,26.63,10.42,47.28
$GC,602,-1.18,-487.5,1977,1951,3064,4095,37.8,-6.1,93,608,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1952,3064,3064,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.40,46.49
$GC,641,-1.18,-487.5,1977,1952,3064,4094,40.2,-6.1,99,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1952,3064,3064,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.39,46.69
$GC,679,-1.18,-487.5,1977,1952,3064,4095,42.7,-6.3,105,685,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1952,3064,3064,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.38,46.25
$GC,718,-1.18,-487.5,1976,1951,3065,4095,45.0,-6.3,111,724,0.00,1.02,0.00,0.000,260,0.000,0.041,1977,2353,3065,3065,4095,0,0,0,0,0,0,26.67,26.38,26.68,10.38,45.62
$GC,751,-1.18,-487.5,1977,2352,3065,4095,47.0,-6.0,116,758,0.00,0.98,0.00,0.000,1030,0.000,0.028,1977,1956,3066,3066,4095,0,0,0,0,0,0,26.45,26.42,26.48,10.38,45.78
$GC,790,-1.18,-487.5,1977,1955,3066,4095,49.5,-6.1,122,796,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1956,3066,3066,4095,0,0,0,0,0,0,26.68,26.70,26.70,10.37,46.25
$GC,829,-1.18,-487.5,1977,1956,3066,4095,51.8,-6.3,128,835,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1956,3066,3066,4095,0,0,0,0,0,0,26.70,26.71,26.70,10.37,45.74
$GC,867,-1.18,-487.5,1977,1956,3067,4095,54.2,-6.2,134,873,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1956,3067,3067,4095,0,0,0,0,0,0,26.70,26.72,26.72,10.36,46.10
$GC,906,-1.18,-487.5,1977,1956,3067,4095,56.7,-6.5,140,912,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1956,3067,3067,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.36,46.29
$GC,944,-1.18,-487.5,1977,1955,3068,4095,59.1,-6.2,146,950,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1956,3068,3068,4094,0,0,0,0,0,0,26.72,26.73,26.73,10.35,46.81
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,962,begin apogee
$GC,969,-0.45,0.0,1977,2128,3068,4095,60.4,-6.5,149,1004,2.10,0.00,27.80,1.274,10244,0.044,0.000,2186,2128,2484,2484,4094,0,0,0,0,0,0,26.45,25.56,24.56,10.36,46.14
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1008,1.18,487.5,2186,2128,2484,4094,61.9,0.0,155,1045,5.38,0.00,27.65,1.251,11270,0.037,0.000,2699,2128,1915,1915,4094,0,0,0,0,0,0,25.76,25.96,24.06,10.23,46.49
$GC,1077,2.29,1229.5,2698,2127,1915,4094,58.8,6.2,166,1131,3.67,1.12,41.40,1.207,10756,0.024,0.043,3056,1711,1050,1050,4094,0,0,0,0,0,0,25.46,24.75,23.84,10.10,46.18
$GC,1170,2.32,1246.0,3055,1710,1049,4094,47.1,9.9,181,1177,0.00,0.98,2.72,0.333,9222,0.000,0.027,3056,2105,1031,1031,4094,0,0,0,0,0,0,25.32,25.29,24.22,9.93,45.35
$GC,1210,2.50,1368.2,3055,2105,1030,4094,43.3,9.4,187,1224,0.62,0.00,8.30,0.874,10502,0.030,0.000,3123,2105,889,889,4094,0,0,0,0,0,0,25.46,25.15,24.30,9.92,45.62
$GC,1256,2.63,1454.5,3122,2105,888,4094,38.8,9.6,194,1269,0.35,0.00,6.45,0.767,10246,0.034,0.000,3171,2105,788,788,4094,0,0,0,0,0,0,25.51,24.98,24.40,9.88,46.22
$GC,1302,2.72,1513.2,3170,2105,787,4094,34.4,9.7,201,1315,0.15,1.05,4.88,0.630,10756,0.053,0.044,3195,1711,720,720,4094,0,0,0,0,0,0,25.58,25.35,24.49,9.86,46.45
$GC,1348,2.85,1601.7,3194,1710,719,4094,29.9,9.6,208,1362,0.35,0.95,6.43,0.698,11270,0.031,0.027,3236,2103,617,617,4094,0,0,0,0,0,0,25.61,25.60,24.56,9.84,47.08
$GC,1394,3.17,1811.3,3235,2103,615,4094,25.5,8.9,215,1413,0.98,0.00,12.55,0.799,10246,0.025,0.000,3339,2104,373,373,4094,0,0,0,0,0,0,25.64,25.28,24.54,9.83,46.96
$GC,1446,3.47,2011.0,3338,2103,372,4094,20.6,9.0,223,1465,0.88,1.05,12.02,0.745,10756,0.027,0.045,3429,1716,140,140,4094,0,0,0,0,0,0,25.58,25.30,24.56,9.81,48.30
$GC,1492,3.93,2321.4,3429,1715,139,4094,16.5,8.4,230,1506,1.48,0.93,5.72,0.557,11270,0.024,0.027,3582,2100,50,50,4094,0,0,0,0,0,0,25.56,25.55,24.65,9.80,50.19
$GC,1538,3.93,2321.4,3581,2099,48,4094,11.4,11.3,237,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2100,49,49,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.81,50.94
$GC,1576,3.93,2321.4,3581,2099,47,4094,6.6,12.5,243,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2100,47,47,4094,0,0,0,0,0,0,25.92,25.94,25.93,9.83,51.89
$GC,1614,3.93,2321.4,3581,2099,44,4094,2.1,12.2,249,1621,0.00,1.02,0.00,0.000,516,0.000,0.047,3582,1717,44,44,4094,0,0,0,0,0,0,25.99,25.70,26.01,9.84,52.71
$STATE,1626,end climb,FINISH_DEPTH_REACHED
$STATE,1626,begin subsurface finish
$FINISH1,0.5,1.023813,125
$GC,1635,0.19,124.6,3582,2132,44,4094,0.5,11.4,251,1673,12.15,1.23,-19.67,0.000,21252,0.022,1.264,2402,2571,2344,2344,4094,0,0,0,0,0,0,25.83,24.57,25.84,9.85,53.34
$FINISH2,0.0
$STATE,1674,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1674,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,141804
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.25
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.84,23.906
$10V_AH,10.44,27.219
$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,32.350,18.450,155.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,623.059,368.593,276.017,373.877,90.726,33.426,559.977,0.000,378.528,0.000,0.544,0.000
$DEVICE_MAMPS,52.785,1263.780,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,170.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,21225,257
$CAP_FILE_SIZE,49243,0
$CFSIZE,1024409600,976453632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,154949,6108.609,-17348.121,5,0.8,34,7.0,0.3,214.2,10,5.0