version: 66.13
glider: 401
mission: 22
dive: 1006
start: 8 13 117 23 32 14
data:
$ID,401
$MISSION,22
$DIVE,1006
$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,46
$R_STBD_OVSHOOT,65
$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
$GPS1,130817,232305,6130.1113,-17348.7266,1,0.9,31,7.1,0.8,248.6,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-36.0
$GPS2,130817,233105,6130.1245,-17348.7812,10,0.8,18,7.1,1.1,62.2,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.110938,0.625973
$KALMAN_X,63666.546875,-375.053070,-278.678253,-255481.687500,57.668930
$KALMAN_Y,-57663.636719,2628.872070,1000.690002,303688.312500,8.020813
$MHEAD_RNG_PITCHd_Wd,342.9,25091,-4.6,-10.526,-9.40,22735
$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,9,-1.15,-487.5,238,1932,1518,4092,0.0,0.0,0,21,9.62,0.00,0.00,0.000,2049,0.081,0.000,1078,1931,1519,1519,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.17,52.20
$GC,24,-1.15,-487.5,1078,1930,1519,4094,0.7,0.0,1,52,9.57,0.00,-14.07,0.000,18694,0.050,0.000,1963,1930,3058,3058,4095,0,0,0,0,0,0,25.94,24.91,25.97,10.18,52.08
$GC,90,-1.15,-487.5,1962,1929,3058,4095,2.2,-7.8,9,100,0.00,1.10,0.00,0.000,260,0.000,0.043,1962,2341,3058,3058,4094,0,0,0,0,0,0,26.22,25.93,26.24,10.51,51.96
$GC,110,-1.15,-487.5,1962,2341,3059,4094,4.7,-10.6,11,119,0.00,0.93,0.00,0.000,1030,0.000,0.031,1963,1972,3059,3059,4095,0,0,0,0,0,0,26.01,25.97,26.03,10.50,51.37
$GC,156,-1.15,-487.5,1962,1972,3059,4095,8.3,-7.6,17,166,0.00,0.98,0.00,0.000,260,0.000,0.041,1963,2340,3059,3059,4094,0,0,0,0,0,0,26.29,26.00,26.30,10.51,50.74
$GC,184,-1.15,-487.5,1962,2340,3060,4094,9.6,-5.3,20,193,0.00,0.95,0.00,0.000,1030,0.000,0.029,1963,1961,3059,3059,4094,0,0,0,0,0,0,26.08,26.09,26.10,10.51,50.74
$GC,231,-1.15,-487.5,1962,1961,3060,4094,13.4,-9.1,26,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1961,3060,3060,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.51,50.43
$GC,278,-1.15,-487.5,1962,1961,3061,4095,18.0,-9.9,32,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1961,3062,3062,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.51,50.74
$GC,325,-1.15,-487.5,1962,1960,3062,4094,22.4,-9.8,38,334,0.00,1.00,0.00,0.000,260,0.000,0.041,1963,2338,3062,3062,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.49,50.47
$GC,378,-1.15,-487.5,1962,2337,3062,4095,26.0,-6.0,45,387,0.00,0.95,0.00,0.000,1030,0.000,0.029,1963,1956,3062,3062,4094,0,0,0,0,0,0,26.22,26.18,26.24,10.45,49.25
$GC,425,-1.15,-487.5,1962,1956,3063,4094,28.9,-6.0,51,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3063,3063,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.43,48.07
$GC,471,-1.15,-487.5,1962,1955,3064,4094,32.0,-6.8,57,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1955,3064,3064,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.41,47.44
$GC,517,-1.15,-487.5,1962,1955,3064,4095,35.1,-6.7,63,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3064,3064,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.39,47.36
$GC,563,-1.15,-487.5,1962,1955,3065,4094,38.0,-6.6,69,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1955,3065,3065,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.38,46.29
$GC,609,-1.15,-487.5,1962,1955,3065,4094,40.9,-6.5,75,618,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.38,46.29
$GC,656,-1.15,-487.5,1962,1955,3066,4095,43.9,-6.6,81,664,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3066,3066,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.37,45.90
$GC,703,-1.15,-487.5,1962,1955,3066,4094,47.1,-6.8,87,712,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3066,3066,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.36,45.43
$GC,750,-1.15,-487.5,1962,1955,3066,4095,50.2,-6.6,93,758,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3067,3067,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.35,45.27
$GC,797,-1.15,-487.5,1962,1955,3067,4094,53.2,-6.7,99,806,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3067,3067,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.35,45.27
$GC,844,-1.15,-487.5,1961,1955,3068,4095,56.3,-6.7,105,852,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1956,3068,3068,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.34,45.62
$GC,891,-1.15,-487.5,1962,1955,3068,4095,59.4,-6.6,111,900,0.00,1.10,0.00,0.000,516,0.000,0.052,1963,1521,3068,3068,4094,0,0,0,0,0,0,26.64,26.33,26.65,10.34,45.47
$STATE,908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,908,begin apogee
$GC,917,-0.45,0.0,1962,2106,3069,4094,60.9,-6.7,113,954,2.28,0.05,28.23,1.306,10244,0.047,0.153,2182,2144,2484,2484,4094,0,0,0,0,0,0,26.36,25.45,24.41,10.33,46.02
$STATE,955,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,958,1.15,487.5,2181,2144,2484,4094,62.7,0.0,117,994,5.43,0.00,27.95,1.281,11270,0.039,0.000,2690,2144,1916,1916,4094,0,0,0,0,0,0,25.67,25.86,23.94,10.21,45.51
$GC,1034,2.57,1435.5,2690,2144,1915,4094,59.7,6.2,126,1096,4.75,1.17,52.72,1.222,10756,0.023,0.040,3145,1713,811,811,4095,0,0,0,0,0,0,25.44,24.60,23.70,10.08,45.23
$GC,1147,2.88,1638.7,3144,1712,810,4095,43.6,9.6,140,1166,0.93,0.98,12.68,0.971,11270,0.023,0.026,3240,2107,574,574,4094,0,0,0,0,0,0,25.23,25.20,24.01,9.85,45.03
$GC,1205,3.16,1825.2,3239,2107,574,4094,37.9,9.7,147,1223,0.93,0.00,11.70,0.906,10246,0.025,0.000,3334,2108,357,357,4094,0,0,0,0,0,0,25.27,24.92,24.10,9.80,45.74
$GC,1262,3.73,2209.6,3333,2107,356,4094,32.6,8.8,154,1288,1.85,0.00,15.65,0.894,10246,0.023,0.000,3518,2107,50,50,4094,0,0,0,0,0,0,25.33,24.71,24.15,9.76,45.70
$GC,1326,3.73,2209.6,3517,2107,48,4094,24.6,13.1,162,1336,0.00,1.08,0.00,0.000,516,0.000,0.046,3518,1713,48,48,4094,0,0,0,0,0,0,25.55,25.29,25.56,9.70,46.25
$GC,1360,3.98,2376.4,3518,1712,48,4094,21.2,9.8,166,1369,0.77,0.98,0.00,0.000,3078,0.021,0.027,3603,2116,48,48,4094,0,0,0,0,0,0,25.48,25.46,25.50,9.72,46.14
$GC,1406,3.98,2376.4,3602,2116,45,4094,15.8,13.9,172,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2116,45,45,4094,0,0,0,0,0,0,25.78,25.79,25.79,9.77,48.66
$GC,1451,3.98,2376.4,3602,2116,43,4094,8.7,15.8,178,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2116,42,42,4094,0,0,0,0,0,0,25.88,25.89,25.89,9.78,50.70
$STATE,1487,end climb,FINISH_DEPTH_REACHED
$STATE,1487,begin subsurface finish
$FINISH1,1.2,1.024003,111
$GC,1495,0.17,111.3,3603,2116,39,4094,1.2,20.1,183,1540,12.60,1.12,-19.80,0.000,21252,0.024,1.275,2396,1716,2361,2361,4094,0,0,0,0,0,0,25.75,24.49,25.79,9.80,51.37
$FINISH2,0.2
$STATE,1541,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1541,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,221651
$TT8_MAMPS,0.025466,0.259903
$HUMID,53.78
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.70,27.756
$10V_AH,10.14,30.524
$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,48.725,13.950,148.925,0.000,0.000,23.740,31.597,249.782,0.000,0.000,19.680,510.664,0.000,220.263,1091.558,217.156,33.460,588.711,0.000,455.169,0.000,0.543,0.000
$DEVICE_MAMPS,81.090,1275.255,1305.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,126.902,510.782,404.175,598.580,775.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,17719,188
$CAP_FILE_SIZE,45925,0
$CFSIZE,1024409600,970031104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130817,233105,6130.125,-17348.781,10,0.8,18,7.1,1.1,62.2,11,5.0