version: 66.13
glider: 401
mission: 22
dive: 396
start: 8 2 117 17 0 23
data:
$ID,401
$MISSION,22
$DIVE,396
$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,25
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$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
$GPS1,020817,161342,5956.8003,-17200.4004,7,0.7,25,7.9,0.2,191.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.2
$GPS2,020817,161342,5956.8003,-17200.4004,7,0.7,25,7.9,0.2,191.6,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338062,0.028344
$KALMAN_X,51269.273438,-1846.687744,-487.014832,-138799.281250,139.196228
$KALMAN_Y,27407.998047,1484.798950,369.198151,47569.394531,-11.961487
$MHEAD_RNG_PITCHd_Wd,266.9,41252,-11.3,-9.091,-15.00,6411
$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,-389.2,2412,1884,2388,4092,0.0,0.0,0,21,5.82,0.00,-5.12,0.000,20482,0.024,0.000,1845,1885,2937,2937,4095,0,0,0,0,0,0,26.22,28.83,26.25,10.32,50.51
$GC,23,-1.61,-389.2,1845,1884,2938,4095,0.1,0.0,1,33,0.00,1.48,-0.17,0.000,16644,0.000,1.288,1844,2421,2959,2959,4095,0,0,0,0,0,0,26.42,25.08,26.24,10.44,50.35
$GC,180,-1.61,-389.2,1844,2421,2963,4095,18.4,-12.3,24,188,0.00,1.30,0.00,0.000,1030,0.000,0.030,1844,1909,2963,2963,4095,0,0,0,0,0,0,26.15,26.11,26.17,10.44,49.88
$GC,226,-1.61,-389.2,1844,1909,2964,4095,23.5,-11.8,30,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1909,2964,2964,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.43,49.52
$GC,269,-1.61,-389.2,1844,1909,2964,4094,28.2,-10.2,36,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1909,2965,2965,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.40,49.84
$GC,313,-1.61,-389.2,1844,1909,2965,4095,32.6,-9.9,42,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1909,2965,2965,4093,0,0,0,0,0,0,26.44,26.46,26.46,10.38,48.26
$GC,358,-1.61,-389.2,1844,1908,2966,4093,37.0,-10.0,48,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1909,2966,2966,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.36,47.87
$GC,402,-1.61,-389.2,1844,1909,2967,4095,41.5,-10.2,54,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1909,2967,2967,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.35,46.77
$GC,446,-1.61,-389.2,1844,1908,2968,4095,46.1,-10.5,60,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1908,2968,2968,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,46.02
$GC,491,-1.61,-389.2,1844,1908,2969,4095,50.8,-10.8,66,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1909,2969,2969,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.34,45.82
$GC,535,-1.61,-389.2,1844,1908,2970,4094,55.6,-10.9,72,545,0.00,1.40,0.00,0.000,260,0.000,0.044,1844,2432,2970,2970,4095,0,0,0,0,0,0,26.54,26.24,26.55,10.33,45.39
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,584,-0.45,0.0,1844,2017,2971,4094,60.6,-11.2,78,620,3.92,0.00,22.75,1.281,10244,0.056,0.000,2206,2017,2505,2505,4095,0,0,0,0,0,0,26.28,25.33,24.60,10.33,45.31
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.61,389.2,2206,2016,2505,4095,63.0,0.0,82,659,6.95,0.00,22.90,1.259,11270,0.033,0.000,2865,2017,2045,2045,4094,0,0,0,0,0,0,25.77,25.93,24.14,10.23,45.43
$GC,696,1.61,389.2,2864,2016,2044,4094,57.8,10.9,91,706,0.00,1.45,0.00,0.000,260,0.000,0.046,2865,2540,2044,2044,4094,0,0,0,0,0,0,25.66,25.41,25.67,10.12,44.05
$GC,768,1.61,389.2,2864,2539,2042,4094,48.7,12.7,101,777,0.00,1.35,0.00,0.000,1030,0.000,0.029,2865,2020,2042,2042,4094,0,0,0,0,0,0,25.67,25.63,25.73,10.11,44.52
$GC,814,1.61,389.2,2864,2020,2041,4094,43.2,12.1,107,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2020,2041,2041,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.10,44.92
$GC,860,1.61,389.2,2864,2020,2040,4094,37.6,12.1,113,870,0.00,1.42,0.00,0.000,516,0.000,0.058,2865,1483,2040,2040,4094,0,0,0,0,0,0,26.05,25.75,26.06,10.10,45.15
$GC,918,1.61,389.2,2864,1482,2038,4094,30.3,12.5,121,928,0.00,1.27,0.00,0.000,1030,0.000,0.027,2865,2008,2038,2038,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.09,45.07
$GC,965,1.61,389.2,2864,2008,2037,4094,25.2,10.8,127,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2008,2037,2037,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.11,45.74
$GC,1011,1.61,389.2,2864,2008,2036,4094,20.2,10.8,133,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2008,2035,2035,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.13,46.18
$GC,1057,1.61,389.2,2864,2009,2034,4094,15.3,10.7,139,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2009,2034,2034,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.16,47.67
$GC,1100,1.61,389.2,2864,2008,2034,4094,11.0,9.1,145,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2010,2034,2034,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.18,48.74
$GC,1144,1.61,389.2,2864,2009,2033,4094,7.0,9.1,151,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2010,2033,2033,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,49.88
$GC,1188,1.61,389.2,2864,2009,2032,4094,2.8,9.5,157,1198,0.00,1.40,0.00,0.000,516,0.000,0.055,2865,1485,2031,2031,4095,0,0,0,0,0,0,26.36,26.05,26.37,10.20,49.48
$STATE,1205,end climb,SURFACE_DEPTH_REACHED
$STATE,1206,begin surface coast
$FINISH,0.1,1.023236
$STATE,1227,end surface coast,CONTROL_FINISHED_OK
$STATE,1227,begin surface
$SM_CCo,1324,0.00,0.000,0,0,2030,404.40
$SM_GC,1.08,27.42,1.02,0.00,0.023,0.025,0.000,237,1916,2030,-6.61,-1.46,404.40,0,0,0,0,0,0,26.17,26.17,26.21
$IRIDIUM_FIX,5955.74,-17228.01,020817,145212
$TT8_MAMPS,0.025466,0.240429
$HUMID,50.23
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.14,9.557
$10V_AH,10.20,12.307
$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,44.125,13.475,45.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.789,60.242,150.488,676.326,44.708,33.416,405.687,0.000,391.532,0.000,0.544,0.000
$DEVICE_MAMPS,55.845,1288.260,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.141,440.144,348.333,516.428,674.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14323,162
$CAP_FILE_SIZE,31322,0
$CFSIZE,1024409600,1000046592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,172333,5956.912,-17201.752,5,0.8,32,7.9,0.4,237.6,10,4.8