version: 66.13
glider: 401
mission: 22
dive: 381
start: 8 2 117 10 39 58
data:
$ID,401
$MISSION,22
$DIVE,381
$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,30
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,35
$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
$GPS1,020817,095325,5955.5508,-17156.4883,6,0.7,12,7.9,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.8
$GPS2,020817,095325,5955.5508,-17156.4883,6,0.7,12,7.9,0.0,0.0,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339927,-0.006883
$KALMAN_X,48796.023438,-1892.698486,-525.796326,-132538.421875,114.242249
$KALMAN_Y,25164.937500,1403.973755,227.952316,47720.976562,51.503464
$MHEAD_RNG_PITCHd_Wd,260.9,45104,-11.3,-9.091,-14.97,6445
$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,7,-1.61,-390.0,2414,1896,2384,4092,0.0,0.0,0,21,5.88,0.00,-5.20,0.000,20482,0.027,0.000,1845,1895,2949,2949,4095,0,0,0,0,0,0,26.27,28.83,26.26,10.31,50.43
$GC,23,-1.61,-390.0,1844,1895,2950,4095,0.1,0.0,1,33,0.00,0.00,-0.08,0.000,16390,0.000,0.000,1845,1896,2961,2961,4095,0,0,0,0,0,0,26.42,25.60,26.04,10.43,51.10
$GC,68,-1.61,-390.0,1844,1895,2962,4095,3.8,-10.3,7,78,0.00,1.73,0.00,0.000,516,0.000,0.063,1845,1253,2962,2962,4095,0,0,0,0,0,0,26.28,25.96,26.29,10.44,50.23
$GC,126,-1.61,-390.0,1844,1253,2963,4095,11.9,-14.6,15,136,0.00,1.58,0.00,0.000,1030,0.000,0.028,1845,1891,2963,2963,4094,0,0,0,0,0,0,26.12,26.10,26.15,10.44,50.07
$GC,171,-1.61,-390.0,1844,1892,2964,4094,17.8,-12.8,21,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1892,2964,2964,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.44,50.31
$GC,216,-1.61,-390.0,1844,1892,2965,4095,23.3,-12.3,27,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1892,2965,2965,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.42,50.11
$GC,260,-1.61,-390.0,1844,1893,2966,4095,28.2,-10.5,33,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1894,2966,2966,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.40,49.09
$GC,304,-1.61,-390.0,1844,1895,2967,4094,32.7,-10.4,39,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1895,2967,2967,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.38,48.30
$GC,349,-1.61,-390.0,1844,1895,2968,4094,37.4,-10.7,45,358,0.00,1.73,0.00,0.000,260,0.000,0.048,1844,2540,2968,2968,4095,0,0,0,0,0,0,26.46,26.15,26.47,10.37,47.59
$GC,413,-1.61,-390.0,1844,2539,2969,4095,44.1,-10.3,54,423,0.00,1.67,0.00,0.000,1030,0.000,0.031,1845,1883,2969,2969,4094,0,0,0,0,0,0,26.25,26.22,26.29,10.35,46.18
$GC,460,-1.61,-390.0,1844,1883,2970,4094,48.8,-10.7,60,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1883,2970,2970,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.34,46.02
$GC,503,-1.61,-390.0,1844,1882,2970,4094,53.6,-10.7,66,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1883,2971,2971,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.33,45.58
$GC,547,-1.61,-390.0,1844,1882,2971,4094,58.2,-10.5,72,555,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1883,2972,2972,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.33,45.55
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,568,-0.45,0.0,1844,2039,2972,4095,60.1,-10.7,74,602,3.90,0.00,23.08,1.271,10244,0.058,0.000,2205,2039,2500,2500,4094,0,0,0,0,0,0,26.27,25.28,24.60,10.32,45.39
$STATE,603,end apogee,CONTROL_FINISHED_OK
$STATE,603,begin climb
$GC,605,1.61,390.0,2205,2039,2500,4094,62.4,0.0,78,641,6.95,1.62,22.62,1.251,10500,0.034,0.052,2865,2643,2046,2046,4094,0,0,0,0,0,0,25.69,25.65,24.15,10.22,45.03
$GC,697,1.61,390.0,2864,2643,2044,4094,54.8,12.2,90,706,0.00,1.62,0.00,0.000,1030,0.000,0.028,2865,2020,2043,2043,4094,0,0,0,0,0,0,25.51,25.48,25.54,10.11,44.21
$GC,743,1.61,390.0,2864,2020,2042,4094,49.3,12.1,96,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2021,2042,2042,4094,0,0,0,0,0,0,25.86,25.87,25.86,10.11,44.56
$GC,788,1.61,390.0,2864,2020,2041,4094,43.6,12.4,102,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2021,2041,2041,4094,0,0,0,0,0,0,25.95,25.97,25.96,10.11,44.84
$GC,832,1.61,390.0,2865,2020,2040,4094,38.4,11.4,108,842,0.00,1.75,0.00,0.000,516,0.000,0.061,2865,1370,2040,2040,4094,0,0,0,0,0,0,26.03,25.74,26.04,10.11,44.80
$GC,878,1.61,390.0,2865,1370,2039,4094,32.7,12.5,114,887,0.00,1.52,0.00,0.000,1030,0.000,0.027,2865,1993,2039,2039,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.11,44.99
$GC,924,1.61,390.0,2865,1993,2038,4094,27.5,11.5,120,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1993,2037,2037,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.11,45.15
$GC,967,1.61,390.0,2864,1993,2036,4094,22.3,11.3,126,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1993,2036,2036,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.12,45.98
$GC,1011,1.61,390.0,2865,1993,2035,4094,18.0,9.7,132,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1993,2035,2035,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.15,46.81
$GC,1055,1.61,390.0,2865,1994,2034,4094,13.5,10.4,138,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1994,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.17,48.22
$GC,1100,1.61,390.0,2864,1994,2034,4094,9.0,9.9,144,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1993,2033,2033,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.19,49.13
$GC,1144,1.61,390.0,2865,1994,2032,4094,4.8,9.3,150,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1994,2032,2032,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.20,50.19
$STATE,1175,end climb,SURFACE_DEPTH_REACHED
$STATE,1175,begin surface coast
$FINISH,0.1,1.000861
$STATE,1196,end surface coast,CONTROL_FINISHED_OK
$STATE,1196,begin surface
$SM_CCo,1292,0.00,0.000,0,0,2030,404.40
$SM_GC,0.89,27.55,0.25,0.00,0.021,0.063,0.000,231,1893,2030,-6.65,1.14,404.40,0,0,0,0,0,0,26.08,26.14,26.15
$IRIDIUM_FIX,5955.74,-17228.01,020817,083211
$TT8_MAMPS,0.025466,0.21721
$HUMID,50.43
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.15,9.211
$10V_AH,10.26,11.818
$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,44.275,14.125,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.385,59.598,156.560,657.099,42.859,33.419,416.958,0.000,237.615,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,69.615,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.723,426.507,0.000,500.423,650.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,14219,157
$CAP_FILE_SIZE,32585,0
$CFSIZE,1024409600,1000783872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,110217,5955.897,-17157.523,5,0.7,13,7.9,0.0,58.2,11,5.0