version: 66.13
glider: 401
mission: 22
dive: 969
start: 8 13 117 6 53 24
data:
$ID,401
$MISSION,22
$DIVE,969
$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,19
$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,25
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,130817,061010,6122.1509,-17346.3555,5,0.8,30,7.1,0.0,152.6,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.3
$GPS2,130817,061010,6122.1509,-17346.3555,5,0.8,30,7.1,0.0,152.6,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.210567,0.297012
$KALMAN_X,64029.832031,-65.728065,59.322746,-254192.125000,-131.611725
$KALMAN_Y,-53899.218750,2140.022705,617.332275,286049.000000,-96.167542
$MHEAD_RNG_PITCHd_Wd,28.2,5038,-12.9,-10.526,-16.13,5739
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.77,-401.1,2338,1947,2491,4092,0.0,0.0,0,17,5.55,0.00,-1.08,0.000,20482,0.023,0.000,1786,1947,2678,2678,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.35,52.36
$GC,21,-1.77,-401.1,1786,1947,2678,4094,2.4,0.0,1,27,0.00,0.00,-1.48,0.000,16390,0.000,0.000,1786,1947,2966,2966,4095,0,0,0,0,0,0,26.36,25.08,26.33,10.38,52.44
$GC,60,-1.77,-401.1,1786,1947,2968,4095,8.2,-16.4,7,66,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1947,2968,2968,4095,0,0,0,0,0,0,26.32,26.32,26.33,10.46,52.52
$GC,98,-1.77,-401.1,1786,1947,2968,4095,14.0,-14.3,13,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1947,2969,2969,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.46,52.87
$GC,136,-1.77,-401.1,1786,1947,2970,4095,20.1,-16.1,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1947,2970,2970,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.46,52.79
$GC,175,-1.77,-401.1,1785,1947,2970,4094,24.8,-11.1,25,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1947,2971,2971,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.44,51.77
$GC,213,-1.77,-401.1,1786,1947,2970,4095,29.0,-11.2,31,219,0.00,1.12,0.00,0.000,260,0.000,0.044,1786,2368,2971,2971,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.40,51.29
$GC,258,-1.77,-401.1,1785,2368,2973,4095,34.5,-12.9,38,265,0.00,1.05,0.00,0.000,1030,0.000,0.030,1786,1946,2971,2971,4095,0,0,0,0,0,0,26.22,26.18,26.25,10.38,51.06
$GC,297,-1.77,-401.1,1785,1946,2973,4095,40.0,-13.8,44,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1946,2973,2973,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,49.25
$GC,335,-1.77,-401.1,1785,1946,2974,4094,45.1,-12.8,50,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1946,2974,2974,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.36,48.62
$GC,374,-1.77,-401.1,1785,1946,2975,4095,49.8,-12.6,56,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1946,2975,2975,4095,0,0,0,0,0,0,26.51,26.52,26.53,10.35,48.70
$GC,412,-1.77,-401.1,1786,1945,2976,4095,54.5,-12.6,62,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1946,2977,2977,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.34,47.99
$GC,450,-1.77,-401.1,1785,1946,2977,4095,59.3,-12.1,68,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1946,2977,2977,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.33,47.75
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,468,-0.45,0.0,1786,2140,2977,4094,61.0,-13.1,70,504,4.25,0.00,24.00,1.295,10244,0.057,0.000,2185,2140,2484,2484,4095,0,0,0,0,0,0,26.25,25.19,24.44,10.33,47.28
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,508,1.77,401.1,2185,2140,2484,4095,63.8,0.0,76,544,7.38,0.00,23.23,1.268,11270,0.034,0.000,2889,2140,2015,2015,4094,0,0,0,0,0,0,25.72,25.89,24.03,10.22,47.36
$GC,576,1.77,401.1,2888,2140,2014,4094,58.2,11.4,87,583,0.00,1.12,0.00,0.000,516,0.000,0.045,2889,1718,2015,2015,4094,0,0,0,0,0,0,25.66,25.39,25.67,10.11,45.58
$GC,645,1.77,401.1,2888,1718,2013,4094,49.1,13.8,98,652,0.00,0.98,0.00,0.000,1030,0.000,0.028,2889,2115,2012,2012,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.10,46.65
$GC,685,1.77,401.1,2888,2115,2011,4094,43.6,14.1,104,691,0.00,1.20,0.00,0.000,260,0.000,0.051,2889,2556,2011,2011,4094,0,0,0,0,0,0,25.99,25.69,26.00,10.09,45.94
$GC,724,1.77,401.1,2888,2556,2010,4094,37.6,15.7,110,730,0.00,1.10,0.00,0.000,1030,0.000,0.027,2889,2116,2010,2010,4094,0,0,0,0,0,0,25.86,25.82,25.87,10.09,46.69
$GC,763,1.77,401.1,2888,2115,2009,4094,32.2,13.9,116,769,0.00,1.02,0.00,0.000,516,0.000,0.047,2889,1719,2008,2008,4094,0,0,0,0,0,0,26.11,25.82,26.13,10.09,47.36
$GC,838,1.77,401.1,2888,1719,2007,4094,23.6,11.5,128,844,0.00,0.95,0.00,0.000,1030,0.000,0.028,2889,2110,2007,2007,4095,0,0,0,0,0,0,26.00,25.97,26.02,10.11,47.75
$GC,877,1.77,402.3,2888,2109,2006,4095,19.1,10.5,134,884,0.00,1.20,0.00,0.000,260,0.000,0.051,2889,2557,2006,2006,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.15,49.01
$GC,1000,1.77,402.3,2889,2556,2003,4094,6.6,11.8,154,1007,0.00,1.08,0.00,0.000,1030,0.000,0.026,2889,2112,2002,2002,4095,0,0,0,0,0,0,26.16,26.13,26.17,10.20,51.96
$GC,1040,1.79,412.3,2888,2105,2001,4095,2.2,10.3,160,1046,0.00,1.00,0.00,0.000,516,0.000,0.056,2889,1730,2001,2001,4094,0,0,0,0,0,0,26.38,26.07,26.39,10.20,52.52
$STATE,1051,end climb,SURFACE_DEPTH_REACHED
$STATE,1051,begin surface coast
$FINISH,0.5,1.024017
$STATE,1071,end surface coast,CONTROL_FINISHED_OK
$STATE,1071,begin surface
$SM_CCo,1171,0.00,0.000,0,0,2000,416.42
$SM_GC,0.82,27.23,0.52,0.00,0.020,0.034,0.000,239,1966,2000,-6.55,-1.46,416.42,0,0,0,0,0,0,26.20,26.19,26.23
$IRIDIUM_FIX,6149.06,-17422.35,130817,045259
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.05
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.03,26.451
$10V_AH,10.40,29.508
$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,44.400,13.250,47.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.453,319.036,161.682,239.964,72.061,33.418,342.254,0.000,248.274,0.000,0.541,0.000
$DEVICE_MAMPS,56.610,55.845,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,10852,165
$CAP_FILE_SIZE,31893,0
$CFSIZE,1024409600,971882496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,071349,6122.762,-17346.176,6,0.8,17,7.1,0.0,65.4,10,4.7