version: 66.13
glider: 401
mission: 22
dive: 10
start: 7 26 117 20 52 10
data:
$ID,401
$MISSION,22
$DIVE,10
$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,4
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,25
$T_MISSION,35
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$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,2360
$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,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$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,55
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$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
$GPS1,260717,204541,5916.7896,-17025.6016,4,0.9,16,8.6,0.0,71.3,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-47.4
$GPS2,260717,205102,5916.7969,-17025.5234,6,0.9,21,8.6,0.3,64.0,9,4.2
$SPEED_LIMITS,0.139,0.266
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.263651,-0.034622
$KALMAN_X,1679.390259,690.697205,336.996979,-2740.398926,318.528656
$KALMAN_Y,1239.736572,619.799316,339.721527,545.655762,100.813110
$MHEAD_RNG_PITCHd_Wd,253.9,32221,-13.1,-8.000,-16.74,4579
$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,-1.55,-243.8,238,1894,2147,4092,0.0,0.0,0,21,10.95,0.00,0.00,0.000,2049,0.117,0.000,1130,1890,2148,2148,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.28,49.72
$GC,23,-1.55,-243.8,1130,1890,2148,4094,1.1,0.0,1,42,8.18,0.00,-5.70,0.000,18694,0.076,0.000,1854,1890,2788,2788,4095,0,0,0,0,0,0,25.96,24.98,26.05,10.29,50.39
$GC,79,-1.55,-243.8,1853,1890,2788,4095,2.5,-8.0,8,87,0.00,3.30,0.00,0.000,260,0.000,0.065,1854,3087,2789,2789,4095,0,0,0,0,0,0,26.25,25.88,26.27,10.43,50.11
$GC,136,-1.55,-243.8,1854,3087,2790,4095,8.9,-11.9,16,144,0.00,3.08,0.00,0.000,1030,0.000,0.036,1854,1902,2790,2790,4095,0,0,0,0,0,0,26.05,26.00,26.08,10.43,48.93
$GC,181,-1.55,-243.8,1853,1902,2790,4095,14.1,-11.8,22,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1902,2791,2791,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.43,48.54
$GC,226,-1.55,-243.8,1854,1902,2791,4094,18.6,-8.9,28,236,0.00,3.33,0.00,0.000,516,0.000,0.082,1854,705,2792,2792,4095,0,0,0,0,0,0,26.39,25.97,26.40,10.41,49.09
$GC,311,-1.55,-243.8,1854,705,2794,4095,28.3,-11.9,40,320,0.00,3.03,0.00,0.000,1030,0.000,0.036,1854,1900,2794,2794,4094,0,0,0,0,0,0,26.20,26.15,26.22,10.37,47.91
$GC,356,-1.55,-243.8,1853,1900,2796,4094,33.2,-10.4,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1901,2795,2795,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.36,46.41
$GC,400,-1.55,-243.8,1854,1900,2796,4094,37.7,-10.0,52,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1900,2796,2796,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.35,46.96
$GC,446,-1.55,-243.8,1854,1901,2796,4094,42.2,-10.2,58,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1902,2796,2796,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.35,45.86
$GC,490,-1.55,-243.8,1854,1902,2797,4095,47.0,-10.7,64,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1902,2797,2797,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.34,45.27
$GC,535,-1.55,-243.8,1854,1902,2798,4095,51.7,-10.6,70,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1902,2798,2798,4095,0,0,0,0,0,0,26.55,26.58,26.57,10.33,45.27
$GC,583,-1.55,-243.8,1854,1902,2799,4095,56.9,-11.2,76,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1904,2799,2799,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.33,44.92
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,618,-0.45,0.0,1854,2050,2800,4094,60.1,-10.3,80,645,3.85,0.08,15.25,1.186,10244,0.071,0.053,2205,2001,2501,2501,4094,0,0,0,0,0,0,26.25,25.51,24.80,10.33,45.11
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,647,1.55,243.8,2205,2000,2501,4094,62.3,0.0,83,675,6.75,0.00,14.90,1.176,11270,0.044,0.000,2839,2001,2215,2215,4094,0,0,0,0,0,0,25.94,26.15,24.48,10.26,45.15
$GC,712,1.55,243.8,2839,2000,2215,4094,58.2,10.0,91,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2000,2214,2214,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.20,44.36
$GC,756,1.55,243.8,2839,2000,2214,4094,53.6,9.8,97,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2001,2214,2214,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.19,45.23
$GC,801,1.55,243.8,2839,2000,2213,4095,49.0,10.3,103,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2001,2213,2213,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.19,44.68
$GC,845,1.55,243.8,2839,2000,2212,4094,44.5,10.4,109,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2001,2212,2212,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.19,45.15
$GC,889,1.55,243.8,2840,2000,2211,4095,39.8,10.1,115,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2001,2211,2211,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.18,45.62
$GC,934,1.55,243.8,2839,2000,2210,4094,35.3,10.3,121,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2001,2210,2210,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,45.62
$GC,978,1.55,243.8,2839,2000,2209,4094,30.8,10.0,127,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2001,2208,2208,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.17,45.47
$GC,1022,1.55,243.8,2839,2000,2208,4094,26.2,10.2,133,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2001,2208,2208,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.18,46.22
$GC,1066,1.55,243.8,2839,2000,2207,4094,21.8,9.9,139,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2001,2207,2207,4093,0,0,0,0,0,0,26.41,26.41,26.41,10.17,46.41
$GC,1111,1.55,243.8,2838,2000,2206,4093,17.3,10.0,145,1120,0.00,3.30,0.00,0.000,516,0.000,0.090,2840,837,2206,2206,4094,0,0,0,0,0,0,26.43,26.03,26.44,10.16,46.14
$GC,1202,1.55,243.8,2839,836,2204,4094,9.2,9.1,158,1211,0.00,2.90,0.00,0.000,1030,0.000,0.037,2840,1980,2204,2204,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.23,48.18
$GC,1248,1.55,243.8,2840,1980,2203,4094,5.3,8.6,164,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1981,2203,2203,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.24,48.89
$STATE,1284,end climb,SURFACE_DEPTH_REACHED
$STATE,1284,begin surface coast
$FINISH,0.2,1.024107
$STATE,1307,end surface coast,CONTROL_FINISHED_OK
$STATE,1307,begin surface
$SM_CCo,1343,4.10,0.379,0,0,2148,300.51
$SM_GC,2.21,27.05,0.20,4.10,0.028,0.070,0.379,239,1894,2148,-6.61,1.41,300.51,0,0,0,0,0,0,26.29,26.27,25.52
$IRIDIUM_FIX,5957.10,-16911.74,260717,202045
$TT8_MAMPS,0.026215,0.250166
$HUMID,49.60
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.0,5.7
$24V_AH,24.48,0.518
$10V_AH,10.28,0.493
$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,56.775,19.475,30.150,4.100,0.000,24.961,29.265,174.915,0.500,0.000,22.851,490.546,0.377,160.604,975.187,73.326,33.433,437.878,0.000,416.647,0.000,7.573,0.000
$DEVICE_MAMPS,117.045,90.270,1185.750,378.675,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.374,467.211,369.956,547.996,715.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,17794,172
$CAP_FILE_SIZE,39173,0
$CFSIZE,1024409600,1018986496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,211604,5916.794,-17025.588,4,1.0,50,8.6,0.2,92.0,8,3.0