version: 66.13
glider: 401
mission: 22
dive: 734
start: 8 9 117 3 21 34
data:
$ID,401
$MISSION,22
$DIVE,734
$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,2105
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$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
$GPS1,090817,025813,6045.1943,-17338.2461,7,0.8,13,7.1,0.0,12.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.6
$GPS2,090817,025813,6045.1943,-17338.2461,7,0.8,13,7.1,0.0,12.8,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.187448,0.384427
$KALMAN_X,66959.804688,-561.196106,-245.830124,-248651.031250,25.819229
$KALMAN_Y,-27316.921875,1876.540405,1211.727539,190699.171875,174.542358
$MHEAD_RNG_PITCHd_Wd,326.9,36248,-9.3,-10.000,-13.16,9341
$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,-487.5,2399,1951,2363,4092,0.0,0.0,0,21,5.70,0.00,-4.78,0.000,20482,0.023,0.000,1832,1951,2890,2890,4095,0,0,0,0,0,0,26.19,28.83,26.21,10.32,52.36
$GC,24,-1.58,-487.5,1832,1951,2890,4095,0.1,0.0,1,33,0.00,0.00,-1.55,0.000,16390,0.000,0.000,1833,1951,3058,3058,4095,0,0,0,0,0,0,26.37,25.63,26.35,10.43,52.20
$GC,70,-1.58,-487.5,1832,1951,3059,4095,4.1,-12.1,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1951,3059,3059,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.47,52.52
$GC,114,-1.58,-487.5,1832,1951,3060,4094,10.4,-13.6,13,124,0.00,1.38,0.00,0.000,516,0.000,0.052,1833,1423,3060,3060,4094,0,0,0,0,0,0,26.31,26.00,26.32,10.46,51.45
$GC,147,-1.58,-487.5,1832,1422,3061,4094,14.6,-12.9,17,156,0.00,1.27,0.00,0.000,1030,0.000,0.026,1833,1954,3061,3061,4094,0,0,0,0,0,0,26.13,26.11,26.15,10.44,51.26
$GC,193,-1.58,-487.5,1831,1954,3062,4094,20.2,-12.1,23,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3062,3062,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.43,50.74
$GC,238,-1.58,-487.5,1833,1953,3063,4095,25.6,-12.5,29,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1954,3063,3063,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.41,50.00
$GC,284,-1.58,-487.5,1832,1954,3064,4094,31.3,-12.3,35,293,0.00,1.40,0.00,0.000,260,0.000,0.049,1833,2479,3064,3064,4095,0,0,0,0,0,0,26.43,26.12,26.44,10.41,49.40
$GC,316,-1.58,-487.5,1832,2478,3065,4095,35.3,-12.0,39,326,0.00,1.33,0.00,0.000,1030,0.000,0.028,1833,1953,3065,3065,4094,0,0,0,0,0,0,26.20,26.18,26.27,10.40,49.05
$GC,364,-1.58,-487.5,1832,1953,3066,4094,41.0,-12.7,45,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1953,3066,3066,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.39,48.50
$GC,410,-1.58,-487.5,1832,1953,3067,4094,46.7,-12.0,51,420,0.00,1.38,0.00,0.000,516,0.000,0.054,1833,1420,3067,3067,4095,0,0,0,0,0,0,26.48,26.19,26.49,10.39,48.22
$GC,450,-1.58,-487.5,1832,1420,3067,4095,51.5,-11.7,56,459,0.00,1.25,0.00,0.000,1030,0.000,0.026,1832,1946,3068,3068,4095,0,0,0,0,0,0,26.31,26.27,26.32,10.38,48.07
$GC,497,-1.58,-487.5,1832,1946,3069,4095,56.8,-11.9,62,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1947,3069,3069,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.38,47.40
$STATE,527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,527,begin apogee
$GC,533,-0.45,0.0,1832,2102,3070,4095,60.7,-11.4,66,569,3.78,0.00,28.23,1.291,10244,0.054,0.000,2185,2102,2484,2484,4094,0,0,0,0,0,0,26.25,25.39,24.40,10.37,48.11
$STATE,570,end apogee,CONTROL_FINISHED_OK
$STATE,570,begin climb
$GC,573,1.58,487.5,2185,2102,2484,4094,63.2,0.0,70,618,6.82,1.40,27.75,1.268,10756,0.036,0.046,2829,1573,1919,1919,4094,0,0,0,0,0,0,25.56,25.51,23.95,10.24,47.24
$GC,642,1.62,515.2,2828,1572,1918,4094,58.9,9.7,78,652,0.00,1.33,3.55,0.591,9222,0.000,0.026,2829,2097,1882,1882,4094,0,0,0,0,0,0,25.34,25.29,24.17,10.12,45.62
$GC,690,1.62,515.2,2828,2097,1882,4094,54.1,10.3,84,700,0.00,1.50,0.00,0.000,260,0.000,0.054,2829,2641,1881,1881,4094,0,0,0,0,0,0,25.72,25.42,25.72,10.10,45.51
$GC,738,1.62,515.2,2829,2641,1881,4094,49.2,10.6,90,747,0.00,1.38,0.00,0.000,1030,0.000,0.027,2829,2102,1881,1881,4095,0,0,0,0,0,0,25.66,25.63,25.67,10.10,46.45
$GC,785,1.62,515.2,2828,2101,1880,4095,44.3,10.0,96,795,0.00,1.40,0.00,0.000,516,0.000,0.050,2829,1572,1880,1880,4094,0,0,0,0,0,0,25.96,25.66,25.97,10.11,46.81
$GC,883,1.75,604.8,2829,1572,1877,4094,35.1,9.0,110,894,0.47,1.25,6.28,0.743,11270,0.029,0.027,2886,2082,1778,1778,4094,0,0,0,0,0,0,25.91,25.87,24.77,10.11,46.96
$GC,932,1.75,604.8,2886,2082,1777,4094,30.0,11.0,116,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2082,1776,1776,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.08,47.32
$GC,979,1.75,604.8,2885,2082,1775,4094,24.8,10.7,122,988,0.00,1.52,0.00,0.000,260,0.000,0.055,2886,2641,1775,1775,4094,0,0,0,0,0,0,26.15,25.86,26.16,10.09,47.67
$GC,1018,1.75,604.8,2886,2641,1774,4094,20.2,11.6,127,1028,0.00,1.42,0.00,0.000,1030,0.000,0.027,2886,2078,1774,1774,4094,0,0,0,0,0,0,25.98,25.95,25.99,10.09,48.18
$GC,1066,1.75,604.8,2886,2078,1773,4094,15.0,11.2,133,1075,0.00,1.35,0.00,0.000,516,0.000,0.051,2886,1563,1773,1773,4095,0,0,0,0,0,0,26.24,25.92,26.25,10.09,48.89
$GC,1131,1.75,604.8,2885,1563,1770,4095,7.7,10.7,142,1141,0.00,1.23,0.00,0.000,1030,0.000,0.028,2886,2068,1771,1771,4094,0,0,0,0,0,0,26.08,26.06,26.11,10.11,48.97
$GC,1177,1.83,654.9,2886,2067,1770,4094,3.4,9.4,148,1188,0.15,1.30,4.00,0.377,10756,0.067,0.048,2906,1565,1719,1719,4094,0,0,0,0,0,0,26.10,25.74,25.29,10.14,50.00
$STATE,1196,end climb,FINISH_DEPTH_REACHED
$STATE,1196,begin subsurface finish
$FINISH1,1.4,1.024042,109
$GC,1205,0.16,108.6,2905,2100,1718,4094,1.4,9.1,150,1224,5.18,0.00,-5.65,0.000,20998,0.028,0.000,2396,2102,2363,2363,4095,0,0,0,0,0,0,26.08,25.53,26.13,10.14,49.96
$FINISH2,0.2
$STATE,1225,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1225,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,090817,013955
$TT8_MAMPS,0.026215,0.249417
$HUMID,50.78
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.95,19.809
$10V_AH,10.17,23.587
$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,22.100,25.150,69.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.736,0.000,142.304,638.375,65.887,33.427,415.551,0.000,369.712,0.000,0.543,0.000
$DEVICE_MAMPS,67.320,55.080,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.145,412.840,327.005,484.206,635.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,14373,152
$CAP_FILE_SIZE,34094,0
$CFSIZE,1024409600,983416832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090817,025813,6045.194,-17338.246,7,0.8,13,7.1,0.0,12.8,10,5.0