version: 66.13
glider: 401
mission: 22
dive: 438
start: 8 3 117 12 34 10
data:
$ID,401
$MISSION,22
$DIVE,438
$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,28
$R_STBD_OVSHOOT,32
$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
$GPS1,030817,114323,5959.7461,-17219.1133,6,0.7,13,7.7,0.6,33.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-1.2
$GPS2,030817,114323,5959.7461,-17219.1133,6,0.7,13,7.7,0.6,33.3,11,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348535,-0.080371
$KALMAN_X,54133.800781,-2386.160400,-757.485413,-158572.968750,128.895691
$KALMAN_Y,33932.453125,1260.915161,220.449142,46872.046875,85.405685
$MHEAD_RNG_PITCHd_Wd,249.3,23846,-8.9,-8.333,-13.11,8647
$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,-486.5,2399,1893,2357,4092,0.0,0.0,0,21,5.68,0.00,-4.85,0.000,20482,0.024,0.000,1848,1894,2889,2889,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.30,51.53
$GC,24,-1.53,-486.5,1848,1894,2889,4094,0.1,0.0,1,33,0.00,0.00,-1.33,0.000,16390,0.000,0.000,1848,1894,3048,3048,4095,0,0,0,0,0,0,26.32,25.60,26.28,10.41,51.14
$GC,68,-1.53,-486.5,1847,1894,3050,4095,4.9,-11.9,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1894,3050,3050,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.45,50.86
$GC,113,-1.53,-486.5,1847,1894,3050,4094,10.9,-14.0,13,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1894,3051,3051,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.45,50.90
$GC,157,-1.53,-486.5,1847,1894,3052,4094,16.1,-11.6,19,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1894,3052,3052,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.45,50.66
$GC,201,-1.53,-486.5,1847,1894,3052,4094,21.2,-11.1,25,210,0.00,1.42,0.00,0.000,260,0.000,0.044,1848,2428,3052,3052,4095,0,0,0,0,0,0,26.33,26.03,26.34,10.42,50.55
$GC,252,-1.53,-486.5,1847,2428,3053,4095,26.0,-9.5,32,262,0.00,1.33,0.00,0.000,1030,0.000,0.029,1848,1906,3053,3053,4095,0,0,0,0,0,0,26.15,26.10,26.17,10.38,48.93
$GC,299,-1.53,-486.5,1847,1906,3054,4095,30.6,-10.0,38,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3054,3054,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.37,47.79
$GC,345,-1.53,-486.5,1848,1906,3055,4095,35.4,-10.6,44,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3055,3055,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.35,47.63
$GC,391,-1.53,-486.5,1847,1906,3055,4094,40.4,-10.5,50,401,0.00,1.40,0.00,0.000,260,0.000,0.044,1848,2428,3056,3056,4095,0,0,0,0,0,0,26.44,26.17,26.46,10.35,46.49
$GC,449,-1.53,-486.5,1847,2428,3057,4095,46.7,-10.3,58,459,0.00,1.33,0.00,0.000,1030,0.000,0.029,1848,1904,3057,3057,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.35,45.90
$GC,496,-1.53,-486.5,1847,1904,3058,4095,51.5,-10.5,64,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1904,3058,3058,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.34,46.45
$GC,542,-1.53,-486.5,1847,1904,3059,4095,56.3,-10.6,70,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1904,3059,3059,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.33,45.86
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,584,-0.45,0.0,1847,2038,3060,4094,60.5,-10.7,75,620,3.65,0.00,27.80,1.291,10244,0.055,0.000,2183,2038,2484,2484,4094,0,0,0,0,0,0,26.25,25.38,24.44,10.33,45.74
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.53,486.5,2183,2038,2484,4094,62.8,0.0,79,667,6.80,0.00,27.75,1.270,11270,0.037,0.000,2813,2038,1920,1920,4094,0,0,0,0,0,0,25.59,25.76,23.94,10.21,45.62
$GC,705,1.53,486.5,2813,2037,1920,4094,57.4,9.7,89,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2038,1920,1920,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.08,44.25
$GC,751,1.53,486.5,2813,2037,1919,4094,52.8,10.0,95,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2038,1919,1919,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.08,44.99
$GC,797,1.53,486.5,2813,2038,1919,4094,48.3,9.8,101,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2038,1918,1918,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.07,44.60
$GC,843,1.53,486.5,2813,2037,1917,4094,43.9,9.6,107,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2038,1917,1917,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.07,44.76
$GC,889,1.53,486.5,2813,2037,1916,4094,39.5,9.7,113,898,0.00,1.50,0.00,0.000,516,0.000,0.054,2814,1483,1916,1916,4094,0,0,0,0,0,0,26.03,25.72,26.05,10.07,45.27
$GC,940,1.53,486.5,2813,1482,1915,4094,34.1,9.9,120,950,0.00,1.25,0.00,0.000,1030,0.000,0.027,2813,2001,1915,1915,4094,0,0,0,0,0,0,25.94,25.88,25.92,10.06,45.82
$GC,985,1.53,486.5,2813,2000,1914,4094,29.5,10.4,126,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2001,1914,1914,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.06,45.51
$GC,1030,1.53,486.5,2813,2000,1913,4094,25.1,9.9,132,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2001,1913,1913,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.05,45.74
$GC,1076,1.53,486.5,2813,2000,1912,4094,20.7,9.9,138,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2001,1912,1912,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.06,46.29
$GC,1122,1.53,486.5,2813,2000,1911,4094,16.5,8.9,144,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2001,1911,1911,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.08,46.25
$GC,1165,1.62,544.4,2813,2001,1911,4094,12.9,7.6,150,1175,0.20,0.00,4.55,0.493,10246,0.053,0.000,2840,2001,1848,1848,4095,0,0,0,0,0,0,26.10,25.89,25.25,10.11,47.24
$GC,1212,1.65,565.1,2839,2001,1847,4095,9.2,8.1,156,1222,0.00,0.00,2.88,0.267,8198,0.000,0.000,2839,2002,1824,1824,4094,0,0,0,0,0,0,26.30,25.74,25.29,10.13,49.29
$GC,1259,1.73,618.3,2839,2001,1823,4094,5.6,7.7,162,1269,0.30,1.40,4.40,0.433,10756,0.039,0.057,2879,1481,1761,1761,4095,0,0,0,0,0,0,26.12,25.95,25.32,10.14,49.33
$STATE,1305,end climb,SURFACE_DEPTH_REACHED
$STATE,1305,begin surface coast
$FINISH,0.2,1.024044
$STATE,1328,end surface coast,CONTROL_FINISHED_OK
$STATE,1329,begin surface
$SM_CCo,1427,0.00,0.000,0,0,1759,623.34
$SM_GC,0.93,27.83,1.02,0.00,0.022,0.028,0.000,231,1909,1759,-6.59,-1.78,623.34,0,0,0,0,0,0,26.03,26.12,26.11
$IRIDIUM_FIX,5955.74,-17228.01,030817,101538
$TT8_MAMPS,0.026215,0.248668
$HUMID,51.22
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.94,10.726
$10V_AH,10.19,13.804
$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,44.450,11.250,67.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,491.336,60.125,170.135,713.349,54.912,33.412,453.838,0.000,412.855,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,56.610,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.143,464.519,367.717,545.239,710.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,17715,171
$CAP_FILE_SIZE,35569,0
$CFSIZE,1024409600,997949440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,125846,5959.932,-17220.348,9,0.9,15,7.7,0.0,0.0,10,4.8