version: 66.13
glider: 401
mission: 22
dive: 387
start: 8 2 117 13 12 34
data:
$ID,401
$MISSION,22
$DIVE,387
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,020817,122531,5956.2969,-17158.2207,7,0.9,24,7.9,0.5,35.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.6
$GPS2,020817,122531,5956.2969,-17158.2207,7,0.9,24,7.9,0.5,35.6,10,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.335748,-0.055043
$KALMAN_X,49733.171875,-1929.607666,-562.578430,-135040.984375,169.950806
$KALMAN_Y,26459.654297,1512.505737,388.538513,47538.613281,100.034882
$MHEAD_RNG_PITCHd_Wd,252.8,43349,-11.3,-9.091,-14.96,6456
$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,-390.0,2356,1899,2503,4092,0.0,0.0,0,20,5.25,0.00,-4.07,0.000,20486,0.023,0.000,1846,1900,2962,2962,4094,0,0,0,0,0,0,26.11,25.18,26.13,10.34,50.59
$GC,23,-1.61,-390.0,1845,1900,2961,4094,0.3,0.0,1,32,0.00,1.70,0.00,0.000,516,0.000,0.060,1845,1260,2962,2962,4094,0,0,0,0,0,0,26.25,25.96,26.27,10.43,50.59
$GC,101,-1.61,-390.0,1845,1260,2963,4094,9.7,-14.0,12,110,0.00,1.58,0.00,0.000,1030,0.000,0.028,1845,1896,2963,2963,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.44,50.51
$GC,147,-1.61,-390.0,1845,1896,2964,4095,16.0,-14.0,18,156,0.00,1.73,0.00,0.000,260,0.000,0.050,1845,2544,2964,2964,4094,0,0,0,0,0,0,26.36,26.06,26.38,10.44,49.56
$GC,213,-1.61,-390.0,1845,2543,2966,4094,23.0,-10.0,27,221,0.00,1.65,0.00,0.000,1030,0.000,0.029,1845,1897,2965,2965,4094,0,0,0,0,0,0,26.17,26.15,26.21,10.43,49.60
$GC,258,-1.61,-390.0,1845,1897,2966,4094,27.1,-8.8,33,267,0.00,1.70,0.00,0.000,516,0.000,0.061,1845,1257,2966,2966,4094,0,0,0,0,0,0,26.43,26.10,26.44,10.41,49.37
$GC,316,-1.61,-390.0,1845,1257,2968,4094,33.2,-10.8,41,325,0.00,1.55,0.00,0.000,1030,0.000,0.028,1845,1895,2968,2968,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.38,47.95
$GC,362,-1.61,-390.0,1845,1894,2969,4095,37.8,-10.2,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1895,2969,2969,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.36,47.24
$GC,406,-1.61,-390.0,1845,1894,2969,4095,42.5,-10.1,53,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1895,2969,2969,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.35,46.73
$GC,450,-1.61,-390.0,1845,1896,2970,4094,47.1,-10.6,59,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1896,2970,2970,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.35,46.37
$GC,495,-1.61,-390.0,1845,1896,2971,4094,51.9,-10.8,65,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1896,2971,2971,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.33,45.86
$GC,539,-1.61,-390.0,1845,1896,2972,4095,56.6,-10.8,71,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1896,2972,2972,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.33,45.11
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1845,2046,2973,4095,60.1,-10.8,75,608,3.88,0.00,22.77,1.269,10244,0.057,0.000,2205,2046,2504,2504,4094,0,0,0,0,0,0,26.28,25.30,24.63,10.33,45.27
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,1.61,390.0,2204,2045,2504,4094,62.4,0.0,79,647,6.95,0.00,22.73,1.252,11270,0.034,0.000,2861,2045,2044,2044,4094,0,0,0,0,0,0,25.77,25.93,24.15,10.22,45.27
$GC,684,1.61,390.0,2860,2045,2043,4094,57.4,10.8,88,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2043,2043,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.12,44.09
$GC,728,1.61,390.0,2860,2045,2043,4094,52.0,11.7,94,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2043,2043,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.12,44.25
$GC,773,1.61,390.0,2860,2045,2041,4094,46.6,12.0,100,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.11,44.25
$GC,817,1.61,390.0,2860,2045,2040,4094,41.4,11.8,106,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2046,2040,2040,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.11,44.80
$GC,861,1.61,390.0,2860,2045,2039,4095,36.2,11.3,112,871,0.00,1.85,0.00,0.000,516,0.000,0.058,2861,1366,2038,2038,4094,0,0,0,0,0,0,26.07,25.75,26.08,10.10,44.84
$GC,919,1.61,390.0,2860,1366,2038,4094,29.4,11.7,120,929,0.00,1.50,0.00,0.000,1030,0.000,0.027,2861,1981,2037,2037,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.10,45.35
$GC,966,1.61,390.0,2860,1981,2036,4094,24.1,12.1,126,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1981,2036,2036,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.11,45.98
$GC,1010,1.61,390.0,2860,1981,2035,4094,19.0,10.5,132,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1981,2035,2035,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,46.37
$GC,1055,1.62,397.1,2860,1982,2034,4094,14.8,9.0,138,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1983,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,47.91
$GC,1100,1.66,427.0,2860,1983,2034,4094,11.1,8.6,144,1109,0.00,0.00,3.25,0.339,8198,0.000,0.000,2861,1984,2001,2001,4094,0,0,0,0,0,0,26.31,25.75,25.32,10.18,49.13
$GC,1146,1.66,427.0,2860,1983,2000,4094,6.9,9.4,150,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1984,2000,2000,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.19,49.33
$GC,1189,1.66,427.0,2860,1983,1999,4094,2.8,9.2,156,1199,0.10,0.00,0.00,0.000,2054,0.073,0.000,2879,1985,1999,1999,4095,0,0,0,0,0,0,26.15,26.18,26.16,10.20,49.48
$STATE,1207,end climb,SURFACE_DEPTH_REACHED
$STATE,1207,begin surface coast
$FINISH,0.1,1.015691
$STATE,1228,end surface coast,CONTROL_FINISHED_OK
$STATE,1228,begin surface
$SM_CCo,1325,0.00,0.000,0,0,1998,431.88
$SM_GC,1.06,27.60,0.22,0.00,0.021,0.068,0.000,239,1897,1998,-6.61,1.09,431.88,0,0,0,0,0,0,26.15,26.13,26.20
$IRIDIUM_FIX,5955.74,-17228.01,020817,110350
$TT8_MAMPS,0.026215,0.211218
$HUMID,50.39
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.15,9.348
$10V_AH,10.26,12.013
$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,43.775,14.000,48.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.993,60.481,155.217,676.026,43.540,33.419,419.788,0.000,243.186,0.000,0.542,0.000
$DEVICE_MAMPS,72.675,68.085,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.525,437.436,0.000,513.315,668.694,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,14394,161
$CAP_FILE_SIZE,33188,0
$CFSIZE,1024409600,1000472576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,133527,5956.537,-17158.855,5,0.9,14,7.9,0.0,37.8,10,4.7