version: 66.13
glider: 401
mission: 22
dive: 427
start: 8 3 117 7 35 5
data:
$ID,401
$MISSION,22
$DIVE,427
$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,24
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,2340
$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,34
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$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
$GPS1,030817,072644,5959.3330,-17213.7266,9,0.8,16,7.8,0.4,272.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-42.6
$GPS2,030817,073355,5959.3013,-17213.7812,7,0.8,18,7.8,0.3,228.5,10,4.7
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.346788,0.085189
$KALMAN_X,53442.847656,-2148.238770,-415.659180,-153388.093750,5.235992
$KALMAN_Y,32750.712891,1467.060669,300.447998,46947.589844,-142.095413
$MHEAD_RNG_PITCHd_Wd,276.0,28728,-8.9,-8.333,-13.14,8612
$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,-1.53,-484.5,231,1881,1768,4092,0.0,0.0,0,21,11.12,0.00,0.00,0.000,2049,0.096,0.000,1170,1881,1769,1769,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.25,50.27
$GC,23,-1.53,-484.5,1169,1882,1768,4094,0.8,0.0,1,51,7.18,1.42,-11.82,0.000,18692,0.044,1.271,1841,2398,3052,3052,4095,0,0,0,0,0,0,25.92,24.82,25.98,10.25,49.25
$GC,219,-1.53,-484.5,1840,2398,3056,4095,19.5,-10.5,29,228,0.00,1.25,0.00,0.000,1030,0.000,0.029,1841,1904,3056,3056,4094,0,0,0,0,0,0,26.06,26.02,26.07,10.51,48.42
$GC,264,-1.53,-484.5,1840,1903,3056,4094,23.9,-9.2,35,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,3056,3056,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.48,47.67
$GC,309,-1.53,-484.5,1840,1904,3058,4095,28.3,-10.0,41,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,3058,3058,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.46,47.24
$GC,353,-1.53,-484.5,1840,1903,3058,4095,32.8,-10.4,47,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,3058,3058,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.44,46.41
$GC,398,-1.53,-484.5,1840,1903,3059,4095,37.3,-10.0,53,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,3059,3059,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.42,45.78
$GC,442,-1.53,-484.5,1840,1904,3060,4095,41.9,-10.6,59,452,0.00,1.33,0.00,0.000,260,0.000,0.041,1841,2403,3060,3060,4094,0,0,0,0,0,0,26.43,26.14,26.44,10.40,45.15
$GC,507,-1.53,-484.5,1840,2403,3061,4094,48.7,-10.3,68,517,0.00,1.25,0.00,0.000,1030,0.000,0.028,1841,1904,3061,3061,4094,0,0,0,0,0,0,26.25,26.22,26.29,10.39,44.80
$GC,554,-1.53,-484.5,1840,1904,3062,4094,53.8,-11.0,74,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,3062,3062,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.38,44.01
$GC,599,-1.53,-484.5,1841,1904,3062,4095,58.9,-11.1,80,608,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,3062,3062,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.38,44.40
$STATE,617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,617,begin apogee
$GC,622,-0.45,0.0,1841,2008,3063,4094,61.0,-11.1,82,658,3.72,0.00,28.00,1.282,10244,0.054,0.000,2185,2009,2483,2483,4094,0,0,0,0,0,0,26.23,25.37,24.43,10.38,43.81
$STATE,659,end apogee,CONTROL_FINISHED_OK
$STATE,659,begin climb
$GC,661,1.53,484.5,2185,2009,2483,4094,63.5,0.0,86,706,6.78,0.00,27.77,1.261,11270,0.037,0.000,2813,2009,1918,1918,4094,0,0,0,0,0,0,25.58,25.75,23.96,10.26,43.77
$GC,743,1.53,484.5,2812,2009,1918,4094,58.5,9.1,96,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2009,1917,1917,4094,0,0,0,0,0,0,25.58,25.59,25.58,10.13,43.22
$GC,788,1.53,484.5,2812,2008,1916,4094,54.1,10.0,102,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2009,1916,1916,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.13,42.91
$GC,832,1.53,484.5,2812,2009,1915,4094,49.5,10.1,108,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2009,1915,1915,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.12,43.69
$GC,877,1.53,484.5,2812,2008,1914,4094,45.2,9.6,114,885,0.00,1.42,0.00,0.000,260,0.000,0.047,2812,2533,1914,1914,4094,0,0,0,0,0,0,25.96,25.68,25.98,10.12,44.13
$GC,927,1.53,484.5,2812,2532,1913,4094,40.0,10.3,121,937,0.00,1.30,0.00,0.000,1030,0.000,0.027,2812,2024,1913,1913,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.11,43.93
$GC,974,1.53,484.5,2812,2024,1912,4094,35.3,10.3,127,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1912,1912,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.11,44.56
$GC,1019,1.53,484.5,2812,2024,1911,4094,30.8,9.5,133,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1911,1911,4093,0,0,0,0,0,0,26.17,26.18,26.17,10.10,45.07
$GC,1063,1.53,484.5,2812,2024,1910,4093,26.6,9.3,139,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1910,1910,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.11,45.39
$GC,1108,1.53,484.5,2812,2024,1909,4094,22.3,9.9,145,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1909,1909,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.11,45.55
$GC,1152,1.53,484.5,2812,2024,1908,4094,17.8,10.2,151,1162,0.00,1.42,0.00,0.000,516,0.000,0.057,2813,1483,1908,1908,4094,0,0,0,0,0,0,26.29,25.98,26.30,10.15,46.53
$GC,1230,1.59,521.2,2813,1483,1907,4094,11.2,7.9,162,1241,0.00,1.25,3.22,0.326,9222,0.000,0.025,2813,2010,1874,1874,4094,0,0,0,0,0,0,26.15,26.13,25.34,10.18,48.50
$GC,1278,1.69,591.5,2812,2009,1874,4094,7.7,7.5,168,1288,0.45,0.00,5.25,0.487,10246,0.037,0.000,2869,2010,1794,1794,4094,0,0,0,0,0,0,26.15,25.94,25.36,10.19,49.09
$GC,1326,1.69,591.5,2868,2009,1792,4094,3.6,8.7,174,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2010,1792,1792,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.19,49.64
$STATE,1342,end climb,FINISH_DEPTH_REACHED
$STATE,1343,begin subsurface finish
$FINISH1,2.0,1.024008,111
$GC,1348,0.17,111.0,2868,2009,1792,4094,2.0,8.2,176,1367,5.10,0.00,-4.35,0.000,20486,0.057,0.000,2401,2010,2359,2359,4094,0,0,0,0,0,0,26.08,25.60,26.15,10.19,49.64
$FINISH2,0.6
$STATE,1368,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1368,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,060344
$TT8_MAMPS,0.025466,0.223951
$HUMID,51.02
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.96,10.433
$10V_AH,10.25,13.417
$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,34.350,10.850,64.250,0.000,0.000,23.793,16.756,266.755,0.000,0.000,19.640,489.812,0.000,149.894,1073.333,110.881,33.477,451.691,0.000,269.037,0.000,0.542,0.000
$DEVICE_MAMPS,96.390,1271.430,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.884,483.569,0.000,567.147,743.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,17827,178
$CAP_FILE_SIZE,37981,0
$CFSIZE,1024409600,998490112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,073355,5959.301,-17213.781,7,0.8,18,7.8,0.3,228.5,10,4.7