version: 66.13
glider: 401
mission: 22
dive: 458
start: 8 3 117 22 9 30
data:
$ID,401
$MISSION,22
$DIVE,458
$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,600
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,50
$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
$GPS1,030817,214414,6000.4395,-17230.7266,14,0.8,18,7.6,0.4,340.0,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.9
$GPS2,030817,214414,6000.4395,-17230.7266,14,0.8,18,7.6,0.4,340.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.344504,-0.171251
$KALMAN_X,53945.667969,-2779.446777,-1114.225464,-168636.609375,-219.731567
$KALMAN_Y,37257.992188,1088.176392,200.967865,45019.207031,71.087738
$MHEAD_RNG_PITCHd_Wd,236.0,13405,-7.7,-8.333,-12.22,10356
$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,-1.58,-585.0,2396,1961,2350,4092,0.0,0.0,0,20,5.82,0.00,-4.10,0.000,20482,0.025,0.000,1833,1961,2801,2801,4095,0,0,0,0,0,0,26.10,28.83,26.11,10.31,50.70
$GC,23,-1.58,-585.0,1832,1961,2800,4095,0.1,0.0,1,32,0.00,1.12,-3.30,0.000,16644,0.000,1.280,1832,2359,3170,3170,4095,0,0,0,0,0,0,26.27,24.93,26.29,10.40,50.70
$GC,120,-1.58,-585.0,1831,2359,3172,4095,10.9,-12.1,15,129,0.00,1.05,0.00,0.000,1030,0.000,0.029,1832,1943,3172,3172,4095,0,0,0,0,0,0,26.07,26.02,26.09,10.48,50.47
$GC,165,-1.58,-585.0,1831,1943,3173,4095,16.2,-11.5,21,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3173,3173,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.46,49.84
$GC,209,-1.58,-585.0,1831,1943,3174,4094,20.9,-10.5,27,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3174,3174,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.43,49.29
$GC,253,-1.58,-585.0,1832,1943,3175,4094,25.1,-9.2,33,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3175,3175,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.41,48.26
$GC,298,-1.58,-585.0,1831,1943,3175,4095,29.3,-9.7,39,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3175,3175,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.39,47.95
$GC,341,-1.58,-585.0,1831,1943,3176,4095,33.7,-10.3,45,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3176,3176,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.51
$GC,386,-1.58,-585.0,1831,1942,3177,4094,38.2,-10.1,51,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3177,3177,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,46.49
$GC,430,-1.58,-585.0,1831,1942,3178,4095,42.8,-10.4,57,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1942,3178,3178,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,46.10
$GC,475,-1.58,-585.0,1831,1942,3179,4095,47.6,-11.1,63,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1942,3179,3179,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.37,46.02
$GC,519,-1.58,-585.0,1831,1942,3180,4095,52.6,-10.9,69,529,0.00,1.10,0.00,0.000,260,0.000,0.044,1832,2353,3180,3180,4094,0,0,0,0,0,0,26.51,26.22,26.52,10.37,45.62
$GC,565,-1.58,-585.0,1831,2353,3180,4094,57.2,-9.6,75,574,0.00,0.98,0.00,0.000,1030,0.000,0.028,1832,1961,3180,3180,4095,0,0,0,0,0,0,26.31,26.29,26.34,10.36,45.74
$STATE,590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,590,begin apogee
$GC,595,-0.45,0.0,1832,1961,3181,4095,60.0,-10.8,78,638,3.80,0.00,33.33,1.302,10244,0.054,0.000,2186,1961,2484,2484,4094,0,0,0,0,0,0,26.25,25.25,24.32,10.36,45.51
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.58,585.0,2186,1961,2484,4094,62.4,0.0,83,686,6.93,0.00,33.38,1.274,11270,0.035,0.000,2829,1961,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.82,10.21,45.19
$GC,723,1.58,585.0,2829,1960,1801,4094,57.1,9.5,93,733,0.00,1.10,0.00,0.000,260,0.000,0.037,2829,2358,1801,1801,4094,0,0,0,0,0,0,25.46,25.21,25.47,10.05,44.36
$GC,782,1.58,585.0,2829,2357,1800,4094,51.0,9.9,101,790,0.00,1.08,0.00,0.000,1030,0.000,0.031,2829,1948,1800,1800,4094,0,0,0,0,0,0,25.51,25.46,25.53,10.05,44.64
$GC,828,1.58,585.0,2829,1948,1799,4094,46.7,9.8,107,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1949,1799,1799,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.04,44.88
$GC,871,1.58,585.0,2829,1948,1798,4094,42.4,10.1,113,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1949,1798,1798,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.04,45.47
$GC,915,1.58,585.0,2829,1948,1797,4094,37.9,10.2,119,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1948,1797,1797,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.04,45.39
$GC,960,1.58,585.0,2829,1948,1796,4094,33.2,10.3,125,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1949,1796,1796,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.04,45.51
$GC,1004,1.58,585.0,2829,1948,1795,4094,28.9,9.8,131,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1949,1795,1795,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.03,45.78
$GC,1049,1.58,585.0,2829,1948,1794,4094,24.4,9.9,137,1059,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2355,1794,1794,4094,0,0,0,0,0,0,26.16,25.89,26.17,10.04,45.94
$GC,1134,1.62,613.0,2829,2355,1792,4094,17.0,8.1,149,1144,0.00,1.02,2.90,0.301,9222,0.000,0.031,2829,1954,1768,1768,4094,0,0,0,0,0,0,26.03,25.99,25.17,10.04,46.69
$GC,1181,1.63,620.9,2829,1954,1768,4094,13.2,8.3,155,1191,0.10,0.00,0.80,0.004,10246,0.078,0.000,2849,1954,1767,1767,4094,0,0,0,0,0,0,26.06,26.21,26.08,10.07,47.28
$GC,1229,1.72,674.4,2849,1953,1767,4094,9.5,7.8,161,1239,0.15,0.00,4.82,0.485,10246,0.056,0.000,2875,1954,1696,1696,4094,0,0,0,0,0,0,26.10,25.88,25.27,10.09,48.81
$GC,1277,1.76,706.4,2875,1953,1696,4094,5.7,8.0,167,1285,0.00,0.00,3.40,0.334,8198,0.000,0.000,2875,1954,1659,1659,4094,0,0,0,0,0,0,26.28,25.89,25.30,10.09,49.25
$GC,1323,1.78,717.5,2875,1953,1659,4094,2.0,8.2,173,1333,0.10,0.00,2.42,0.150,10246,0.073,0.000,2893,1954,1646,1646,4094,0,0,0,0,0,0,26.10,25.76,25.36,10.09,50.27
$STATE,1341,end climb,FINISH_DEPTH_REACHED
$STATE,1341,begin subsurface finish
$FINISH1,0.4,1.023925,117
$GC,1347,0.18,116.7,2893,1953,1645,4094,0.4,7.9,175,1364,5.07,0.00,-6.30,0.000,20486,0.025,0.000,2400,1954,2355,2355,4094,0,0,0,0,0,0,26.07,25.56,26.12,10.10,49.96
$FINISH2,0.2
$STATE,1365,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1365,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,030817,213415
$TT8_MAMPS,0.025466,0.250915
$HUMID,51.33
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,11.372
$10V_AH,10.16,14.532
$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,21.975,8.550,81.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,482.615,0.000,153.181,733.262,52.749,33.422,445.653,0.000,426.584,0.000,0.542,0.000
$DEVICE_MAMPS,78.030,1279.845,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.139,480.875,380.726,563.897,731.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,18004,177
$CAP_FILE_SIZE,35183,0
$CFSIZE,1024409600,996966400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,214414,6000.439,-17230.727,14,0.8,18,7.6,0.4,340.0,10,4.9