version: 66.13
glider: 401
mission: 22
dive: 970
start: 8 13 117 7 23 56
data:
$ID,401
$MISSION,22
$DIVE,970
$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,40
$R_STBD_OVSHOOT,45
$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
$GPS1,130817,071349,6122.7622,-17346.1758,6,0.8,17,7.1,0.0,65.4,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-36.8
$GPS2,130817,072245,6122.7314,-17346.2656,7,0.8,29,7.1,0.5,137.1,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.001686,0.451987
$KALMAN_X,63857.000000,-55.007168,66.417976,-253953.968750,-62.466335
$KALMAN_Y,-53457.933594,2246.309326,725.868835,286448.468750,7.399353
$MHEAD_RNG_PITCHd_Wd,352.7,38937,-9.4,-10.526,-13.11,9664
$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,-1.58,-487.5,239,1965,2000,4092,0.0,0.0,0,19,8.43,0.00,0.00,0.000,2049,0.094,0.000,961,1967,2000,2000,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.29,51.45
$GC,22,-1.58,-487.5,960,1966,2000,4094,0.8,0.0,1,50,9.15,1.15,-9.57,0.000,18948,0.043,1.276,1827,1538,3052,3052,4094,0,0,0,0,0,0,25.99,24.67,26.01,10.29,50.90
$GC,61,-1.58,-487.5,1826,1537,3052,4094,0.9,0.1,5,70,0.00,0.95,0.00,0.000,1030,0.000,0.028,1827,1942,3052,3052,4095,0,0,0,0,0,0,25.90,25.93,25.94,10.52,51.26
$GC,107,-1.58,-487.5,1826,1949,3053,4095,6.6,-13.8,11,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1948,3053,3053,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.52,50.35
$GC,152,-1.58,-487.5,1826,1948,3054,4095,13.5,-14.7,17,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1948,3054,3054,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.52,50.11
$GC,197,-1.58,-487.5,1826,1948,3055,4095,19.6,-13.6,23,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1948,3055,3055,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.53,49.68
$GC,245,-1.58,-487.5,1826,1948,3056,4095,24.8,-10.2,29,254,0.00,1.12,0.00,0.000,260,0.000,0.042,1827,2373,3056,3056,4094,0,0,0,0,0,0,26.33,26.08,26.34,10.50,49.72
$GC,330,-1.58,-487.5,1826,2373,3058,4094,33.6,-10.5,41,340,0.00,1.08,0.00,0.000,1030,0.000,0.028,1827,1940,3058,3058,4095,0,0,0,0,0,0,26.19,26.13,26.19,10.44,47.59
$GC,377,-1.58,-487.5,1826,1941,3059,4095,38.8,-10.9,47,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1940,3059,3059,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.42,47.20
$GC,422,-1.58,-487.5,1826,1940,3059,4094,43.9,-11.6,53,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1940,3060,3060,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.40,45.98
$GC,467,-1.58,-487.5,1827,1940,3060,4094,49.2,-11.7,59,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1940,3061,3061,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.39,45.51
$GC,515,-1.58,-487.5,1827,1939,3062,4095,54.5,-11.5,65,523,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1941,3061,3061,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,44.64
$GC,562,-1.58,-487.5,1827,1940,3063,4095,59.7,-10.6,71,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1941,3062,3062,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,44.44
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,585,-0.45,0.0,1827,2140,3063,4095,62.2,-11.5,73,621,3.83,0.00,28.10,1.332,10244,0.054,0.000,2185,2140,2483,2483,4094,0,0,0,0,0,0,26.23,25.33,24.31,10.37,44.64
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,625,1.58,487.5,2185,2140,2484,4094,64.7,0.0,77,670,6.85,1.10,27.98,1.300,10500,0.036,0.049,2838,2550,1917,1917,4095,0,0,0,0,0,0,25.56,25.48,23.89,10.24,44.40
$GC,695,1.58,487.9,2837,2549,1916,4095,60.1,10.5,85,705,0.00,1.05,0.03,0.003,9222,0.000,0.025,2838,2132,1916,1916,4095,0,0,0,0,0,0,25.36,25.33,25.38,10.11,43.54
$GC,742,1.58,487.9,2837,2132,1915,4095,54.9,11.3,91,751,0.00,1.05,0.00,0.000,516,0.000,0.044,2838,1725,1914,1914,4094,0,0,0,0,0,0,25.75,25.48,25.76,10.11,43.97
$GC,846,1.58,487.9,2837,1724,1912,4094,43.1,11.4,106,855,0.00,0.98,0.00,0.000,1030,0.000,0.028,2838,2124,1912,1912,4095,0,0,0,0,0,0,25.80,25.76,25.82,10.09,44.92
$GC,893,1.58,487.9,2837,2124,1911,4095,38.0,11.1,112,903,0.00,1.17,0.00,0.000,260,0.000,0.051,2838,2559,1911,1911,4094,0,0,0,0,0,0,26.08,25.78,26.10,10.09,45.47
$GC,927,1.58,487.9,2837,2558,1910,4094,34.2,10.9,116,936,0.00,1.05,0.00,0.000,1030,0.000,0.026,2838,2132,1910,1910,4095,0,0,0,0,0,0,25.93,25.91,25.95,10.09,45.35
$GC,973,1.74,590.3,2837,2132,1909,4095,29.5,9.4,122,985,0.32,1.05,6.90,0.741,10756,0.038,0.044,2881,1721,1795,1795,4094,0,0,0,0,0,0,25.99,25.71,24.82,10.09,45.86
$GC,1035,1.74,590.3,2880,1721,1794,4094,22.9,11.9,130,1044,0.00,0.98,0.00,0.000,1030,0.000,0.028,2881,2125,1793,1793,4094,0,0,0,0,0,0,25.96,25.91,25.97,10.09,46.25
$GC,1083,2.11,842.0,2880,2125,1793,4094,19.1,7.9,136,1103,1.08,1.20,14.38,0.779,10500,0.028,0.057,2992,2560,1502,1502,4094,0,0,0,0,0,0,26.01,25.63,24.84,10.14,48.74
$GC,1174,2.11,842.0,2991,2560,1499,4094,8.5,13.1,148,1185,0.00,1.05,0.03,0.002,9222,0.000,0.027,2992,2131,1499,1499,4094,0,0,0,0,0,0,25.91,25.90,25.94,10.11,50.78
$STATE,1220,end climb,FINISH_DEPTH_REACHED
$STATE,1220,begin subsurface finish
$FINISH1,1.6,1.024028,110
$GC,1228,0.16,109.5,2992,2124,1497,4094,1.6,14.1,154,1247,6.05,1.10,-6.45,0.000,20996,0.021,1.276,2395,1726,2364,2364,4095,0,0,0,0,0,0,25.96,24.65,26.01,10.12,51.77
$FINISH2,0.9
$STATE,1248,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1248,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,060457
$TT8_MAMPS,0.025466,0.243425
$HUMID,52.32
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.89,26.498
$10V_AH,10.16,29.550
$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,35.700,16.575,77.400,0.000,0.000,22.295,19.462,308.998,0.000,0.000,30.442,444.294,0.000,146.584,1002.337,212.955,33.455,424.628,0.000,380.577,0.000,0.544,0.000
$DEVICE_MAMPS,94.095,1276.020,1331.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.192,423.893,335.450,497.062,647.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,14264,156
$CAP_FILE_SIZE,37697,0
$CFSIZE,1024409600,971816960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130817,072245,6122.731,-17346.266,7,0.8,29,7.1,0.5,137.1,10,4.8