version: 66.13
glider: 401
mission: 22
dive: 323
start: 8 1 117 9 40 1
data:
$ID,401
$MISSION,22
$DIVE,323
$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,19
$R_STBD_OVSHOOT,38
$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
$GPS1,010817,091525,5951.1606,-17140.0312,6,0.9,38,8.0,0.0,61.6,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-0.9
$GPS2,010817,091525,5951.1606,-17140.0312,6,0.9,38,8.0,0.0,61.6,9,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339323,0.022479
$KALMAN_X,41001.515625,-1942.578857,-599.790588,-109041.398438,-28.803345
$KALMAN_Y,19787.886719,1609.054077,379.418701,44611.992188,78.664124
$MHEAD_RNG_PITCHd_Wd,265.8,61574,-11.3,-9.091,-14.97,6449
$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,-390.0,2413,1918,2384,4092,0.0,0.0,0,21,5.78,0.00,-4.85,0.000,20482,0.029,0.000,1862,1918,2915,2915,4095,0,0,0,0,0,0,26.05,28.83,26.08,10.31,49.72
$GC,23,-1.61,-390.0,1862,1918,2915,4095,0.1,0.0,1,33,0.00,2.55,-0.35,0.000,16900,0.000,1.295,1862,1035,2957,2957,4095,0,0,0,0,0,0,26.26,24.92,26.14,10.42,50.11
$GC,103,-1.61,-390.0,1861,1035,2958,4095,8.3,-12.6,12,112,0.00,2.15,0.00,0.000,1030,0.000,0.031,1862,1887,2958,2958,4095,0,0,0,0,0,0,25.96,25.94,25.98,10.44,49.37
$GC,148,-1.61,-390.0,1862,1887,2960,4095,14.0,-11.9,18,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1887,2960,2960,4095,0,0,0,0,0,0,26.22,26.25,26.24,10.45,49.37
$GC,192,-1.61,-390.0,1861,1887,2961,4095,18.8,-10.4,24,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1886,2961,2961,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.44,49.13
$GC,236,-1.61,-390.0,1861,1889,2961,4094,23.3,-9.9,30,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1889,2961,2961,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.41,48.81
$GC,281,-1.61,-390.0,1862,1889,2962,4094,27.6,-9.7,36,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1889,2962,2962,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.39,48.38
$GC,325,-1.61,-390.0,1861,1889,2963,4094,31.8,-9.6,42,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1889,2963,2963,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,47.32
$GC,369,-1.61,-390.0,1861,1889,2964,4095,36.1,-9.9,48,379,0.00,2.33,0.00,0.000,260,0.000,0.055,1862,2760,2964,2964,4095,0,0,0,0,0,0,26.39,26.08,26.41,10.36,46.53
$GC,421,-1.61,-390.0,1861,2760,2965,4095,41.3,-10.1,55,429,0.00,2.20,0.00,0.000,1030,0.000,0.031,1862,1898,2964,2964,4095,0,0,0,0,0,0,26.20,26.15,26.20,10.35,45.82
$GC,466,-1.61,-390.0,1861,1898,2965,4095,45.7,-10.1,61,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1898,2965,2965,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,45.47
$GC,511,-1.61,-390.0,1861,1898,2965,4095,50.4,-10.1,67,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1898,2965,2965,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.34,45.31
$GC,555,-1.61,-390.0,1861,1898,2967,4094,54.9,-10.4,73,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1898,2967,2967,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.33,45.23
$GC,600,-1.61,-390.0,1861,1898,2968,4095,59.6,-10.6,79,608,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1898,2968,2968,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.33,45.74
$STATE,616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,616,begin apogee
$GC,621,-0.45,0.0,1862,2043,2969,4094,61.5,-10.6,81,657,3.75,0.00,22.92,1.289,10244,0.059,0.000,2204,2044,2501,2501,4094,0,0,0,0,0,0,26.22,25.25,24.56,10.32,44.92
$STATE,658,end apogee,CONTROL_FINISHED_OK
$STATE,658,begin climb
$GC,660,1.61,390.0,2205,2043,2501,4094,63.7,0.0,85,695,7.00,0.00,22.77,1.265,11270,0.036,0.000,2861,2044,2045,2045,4094,0,0,0,0,0,0,25.71,25.88,24.11,10.22,45.11
$GC,733,1.61,390.0,2861,2043,2045,4094,58.7,10.6,94,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2045,2045,4094,0,0,0,0,0,0,25.63,25.64,25.63,10.13,44.13
$GC,776,1.61,390.0,2861,2044,2044,4094,53.5,11.4,100,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2043,2043,2043,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.12,44.01
$GC,819,1.61,390.0,2861,2043,2042,4094,48.4,11.7,106,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2042,2042,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,44.25
$GC,864,1.61,390.0,2861,2043,2041,4094,43.2,11.7,112,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2041,2041,4094,0,0,0,0,0,0,25.97,25.99,25.99,10.11,44.29
$GC,908,1.61,390.0,2861,2043,2041,4094,38.1,11.7,118,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2040,2040,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,44.84
$GC,952,1.61,390.0,2860,2043,2039,4094,32.9,11.3,124,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2039,2039,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.10,45.15
$GC,997,1.61,390.0,2861,2043,2038,4095,27.9,11.0,130,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2038,2038,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.10,45.43
$GC,1041,1.61,390.0,2861,2043,2038,4094,22.9,11.5,136,1050,0.00,2.45,0.00,0.000,516,0.000,0.067,2861,1156,2037,2037,4095,0,0,0,0,0,0,26.20,25.85,26.22,10.11,45.39
$GC,1099,1.61,390.0,2861,1155,2035,4095,16.1,11.7,144,1109,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1994,2035,2035,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.14,46.33
$GC,1146,1.61,390.0,2861,1994,2034,4094,11.6,9.5,150,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2034,2034,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.17,48.26
$GC,1190,1.61,390.0,2861,1994,2034,4094,7.1,9.6,156,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2033,2033,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,48.54
$GC,1234,1.61,390.3,2861,1994,2032,4094,3.1,9.1,162,1244,0.00,2.30,0.00,0.000,516,0.000,0.067,2861,1159,2032,2032,4094,0,0,0,0,0,0,26.35,26.01,26.36,10.20,49.21
$STATE,1252,end climb,FINISH_DEPTH_REACHED
$STATE,1252,begin subsurface finish
$FINISH1,1.3,1.024077,106
$GC,1260,0.16,106.1,2861,2030,2032,4094,1.3,9.1,164,1271,4.68,0.00,-3.15,0.000,20998,0.035,0.000,2415,2038,2382,2382,4094,0,0,0,0,0,0,26.13,25.24,26.18,10.20,49.88
$FINISH2,0.2
$STATE,1272,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1272,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,090713
$TT8_MAMPS,0.025466,0.21721
$HUMID,50.15
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.11,7.837
$10V_AH,10.27,9.916
$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,21.200,20.475,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,451.107,0.000,142.466,694.249,43.368,33.429,424.716,0.000,248.934,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1295.145,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.108,448.267,0.000,526.147,686.915,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14252,165
$CAP_FILE_SIZE,32831,0
$CFSIZE,1024409600,1003618304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,091525,5951.161,-17140.031,6,0.9,38,8.0,0.0,61.6,9,4.7