version: 66.13
glider: 401
mission: 22
dive: 300
start: 7 31 117 23 39 44
data:
$ID,401
$MISSION,22
$DIVE,300
$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,22
$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,400
$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,-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,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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,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,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
$GPS1,310717,225240,5949.4492,-17134.6094,10,0.9,17,8.1,0.0,43.2,9,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-5.0
$GPS2,310717,225240,5949.4492,-17134.6094,10,0.9,17,8.1,0.0,43.2,9,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.325639,-0.095659
$KALMAN_X,37448.203125,-2264.069580,-859.606018,-99768.859375,185.044739
$KALMAN_Y,18057.769531,1790.914551,628.971680,42740.542969,189.282104
$MHEAD_RNG_PITCHd_Wd,245.5,67213,-11.3,-9.091,-14.99,6418
$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,-1.61,-389.7,2410,1887,2389,4092,0.0,0.0,0,21,5.68,0.00,-4.97,0.000,20482,0.026,0.000,1861,1888,2940,2940,4095,0,0,0,0,0,0,26.24,28.83,26.26,10.33,50.27
$GC,23,-1.61,-389.7,1860,1887,2940,4095,0.2,0.0,1,33,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1860,1888,2959,2959,4094,0,0,0,0,0,0,26.43,25.71,26.22,10.45,50.23
$GC,68,-1.61,-389.7,1860,1887,2960,4094,3.7,-9.9,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2960,2960,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.46,50.98
$GC,112,-1.61,-389.7,1860,1887,2961,4094,9.2,-12.7,13,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1887,2961,2961,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.46,50.70
$GC,156,-1.61,-389.7,1860,1887,2962,4094,14.6,-12.1,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2962,2962,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.47,50.11
$GC,199,-1.61,-389.7,1860,1887,2963,4094,19.0,-9.8,25,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2963,2963,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.46,49.84
$GC,243,-1.61,-389.7,1860,1887,2964,4094,23.0,-9.2,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2964,2964,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.45,49.92
$GC,288,-1.61,-389.7,1859,1887,2964,4094,27.6,-10.6,37,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2965,2965,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.42,48.62
$GC,331,-1.61,-389.7,1860,1887,2965,4095,32.3,-10.9,43,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1887,2965,2965,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.39,47.99
$GC,375,-1.61,-389.7,1860,1887,2966,4095,37.0,-10.4,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2966,2966,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.38,47.91
$GC,419,-1.61,-389.7,1860,1887,2967,4095,41.4,-10.2,55,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2967,2967,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.37,46.22
$GC,464,-1.61,-389.7,1860,1887,2968,4095,45.9,-10.1,61,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2968,2968,4095,0,0,0,0,0,0,26.52,26.54,26.53,10.37,46.45
$GC,508,-1.61,-389.7,1860,1888,2968,4095,50.3,-10.2,67,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1888,2969,2969,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.35,45.51
$GC,553,-1.61,-389.7,1860,1887,2969,4095,54.8,-10.1,73,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2970,2970,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.35,45.27
$GC,597,-1.61,-389.7,1860,1887,2970,4095,59.3,-10.2,79,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1888,2971,2971,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.34,45.03
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,619,-0.45,0.0,1860,2049,2971,4094,61.1,-9.9,81,653,3.78,0.00,22.95,1.272,10246,0.060,0.000,2206,2050,2498,2498,4095,0,0,0,0,0,0,26.30,25.33,24.66,10.34,44.68
$STATE,654,end apogee,CONTROL_FINISHED_OK
$STATE,654,begin climb
$GC,656,1.61,389.7,2206,2049,2498,4095,63.3,0.0,85,692,6.93,0.00,22.52,1.248,10246,0.036,0.000,2862,2050,2045,2045,4094,0,0,0,0,0,0,25.78,24.84,24.20,10.23,44.48
$GC,729,1.61,389.7,2861,2049,2045,4094,57.9,11.2,94,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2050,2044,2044,4095,0,0,0,0,0,0,25.68,25.70,25.70,10.13,43.66
$GC,775,1.61,389.7,2861,2049,2043,4095,52.3,12.6,100,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2050,2043,2043,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.12,44.01
$GC,821,1.61,389.7,2861,2049,2042,4094,46.6,12.4,106,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2050,2042,2042,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.12,44.32
$GC,867,1.61,389.7,2861,2049,2041,4094,41.1,11.8,112,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2050,2040,2040,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.12,44.40
$GC,913,1.61,389.7,2861,2049,2039,4094,35.7,11.7,118,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2050,2039,2039,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,45.15
$GC,959,1.61,389.7,2861,2049,2038,4094,30.2,12.0,124,967,0.00,2.45,0.00,0.000,516,0.000,0.065,2861,1162,2038,2038,4095,0,0,0,0,0,0,26.15,25.81,26.16,10.11,44.88
$GC,996,1.61,389.7,2861,1162,2037,4095,25.6,12.0,129,1006,0.00,2.08,0.00,0.000,1030,0.000,0.028,2862,1991,2037,2037,4094,0,0,0,0,0,0,25.98,25.96,26.00,10.12,45.35
$GC,1043,1.61,389.7,2861,1990,2036,4094,20.7,10.2,135,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1990,2036,2036,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.14,45.98
$GC,1089,1.61,389.7,2861,1990,2035,4095,15.7,10.9,141,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1990,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.17,46.96
$GC,1135,1.61,389.7,2861,1991,2033,4094,11.0,10.1,147,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2034,2034,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.19,48.81
$GC,1180,1.61,389.7,2861,1991,2033,4094,6.6,9.8,153,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2032,2032,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.21,49.13
$STATE,1224,end climb,SURFACE_DEPTH_REACHED
$STATE,1224,begin surface coast
$FINISH,0.3,1.024134
$STATE,1248,end surface coast,CONTROL_FINISHED_OK
$STATE,1248,begin surface
$SM_CCo,1344,0.00,0.000,0,0,2030,404.40
$SM_GC,1.04,27.45,0.22,0.00,0.024,0.060,0.000,240,1876,2030,-6.61,1.28,404.40,0,0,0,0,0,0,26.17,26.17,26.21
$IRIDIUM_FIX,5955.74,-17228.01,310717,213014
$TT8_MAMPS,0.025466,0.250166
$HUMID,50.11
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.20,7.277
$10V_AH,10.23,9.167
$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,43.825,5.350,45.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,456.916,60.062,163.557,675.694,48.779,33.418,437.350,0.000,390.800,0.000,0.542,0.000
$DEVICE_MAMPS,59.670,65.025,1272.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.615,440.158,348.288,516.237,673.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,17784,162
$CAP_FILE_SIZE,32703,0
$CFSIZE,1024409600,1004748800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,000320,5949.935,-17134.816,3,0.8,38,8.1,0.0,79.1,10,4.9