version: 66.13
glider: 401
mission: 22
dive: 468
start: 8 4 117 2 41 28
data:
$ID,401
$MISSION,22
$DIVE,468
$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,25
$R_STBD_OVSHOOT,38
$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
$GPS1,040817,015210,6000.9512,-17235.6504,3,0.8,20,7.6,0.0,19.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-2.4
$GPS2,040817,015210,6000.9512,-17235.6504,3,0.8,20,7.6,0.0,19.1,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.311898,-0.221821
$KALMAN_X,54143.296875,-3132.425293,-1151.642700,-173095.828125,179.739746
$KALMAN_Y,40601.839844,1139.120361,308.518738,42465.816406,188.047607
$MHEAD_RNG_PITCHd_Wd,227.0,9431,-7.8,-8.333,-12.28,10223
$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,-1.58,-578.7,2400,1942,2355,4092,0.0,0.0,0,20,5.88,0.00,-4.10,0.000,20482,0.026,0.000,1833,1941,2800,2800,4094,0,0,0,0,0,0,26.08,28.83,26.08,10.27,51.81
$GC,23,-1.58,-578.7,1832,1942,2800,4094,0.1,0.0,1,32,0.00,1.20,-3.42,0.000,16644,0.000,1.278,1832,2370,3165,3165,4095,0,0,0,0,0,0,26.25,24.91,26.26,10.37,52.36
$GC,113,-1.58,-578.7,1832,2369,3167,4095,10.4,-13.3,14,122,0.00,1.08,0.00,0.000,1030,0.000,0.029,1832,1943,3166,3166,4095,0,0,0,0,0,0,26.05,26.00,26.06,10.45,51.41
$GC,159,-1.58,-578.7,1832,1943,3167,4095,15.8,-12.1,20,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3168,3168,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.42,50.82
$GC,205,-1.58,-578.7,1832,1943,3168,4095,20.6,-10.3,26,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1942,3168,3168,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.39,50.74
$GC,249,-1.58,-578.7,1832,1943,3169,4095,25.2,-10.6,32,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1942,3169,3169,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.38,49.44
$GC,293,-1.58,-578.7,1832,1943,3170,4094,29.8,-10.4,38,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3170,3170,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.37,48.58
$GC,338,-1.58,-578.7,1832,1943,3171,4094,34.4,-10.4,44,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1943,3171,3171,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.36,47.83
$GC,382,-1.58,-578.7,1832,1943,3171,4095,38.9,-9.9,50,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3171,3171,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,47.08
$GC,427,-1.58,-578.7,1832,1943,3172,4094,43.5,-10.4,56,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1943,3173,3173,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,47.04
$GC,471,-1.58,-578.7,1832,1943,3173,4094,48.2,-10.9,62,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1942,3173,3173,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.34,46.61
$GC,516,-1.58,-578.7,1832,1943,3174,4094,53.1,-10.8,68,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1943,3175,3175,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.34,46.96
$GC,561,-1.58,-578.7,1832,1943,3175,4094,57.9,-11.0,74,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1943,3175,3175,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,46.33
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,590,-0.45,0.0,1832,1943,3175,4095,60.6,-11.1,77,634,3.80,0.00,33.17,1.304,10244,0.053,0.000,2184,1943,2483,2483,4094,0,0,0,0,0,0,26.24,24.98,24.28,10.34,46.06
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,637,1.58,578.7,2184,1942,2483,4094,63.2,0.0,82,681,7.00,0.00,33.03,1.282,11270,0.037,0.000,2830,1943,1810,1810,4094,0,0,0,0,0,0,25.47,25.63,23.80,10.19,45.78
$GC,719,1.58,578.7,2829,1942,1809,4094,57.9,9.2,92,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1942,1809,1809,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.04,44.80
$GC,765,1.58,578.7,2829,1942,1808,4094,53.5,9.7,98,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1943,1808,1808,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.03,45.62
$GC,811,1.58,578.7,2829,1942,1807,4094,48.8,10.4,104,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1943,1807,1807,4094,0,0,0,0,0,0,25.79,25.80,25.79,10.03,45.07
$GC,857,1.58,578.7,2829,1942,1806,4094,44.3,9.7,110,866,0.00,1.15,0.00,0.000,260,0.000,0.042,2830,2362,1806,1806,4094,0,0,0,0,0,0,25.89,25.62,25.90,10.03,45.70
$GC,941,1.58,578.7,2829,2362,1804,4094,35.8,9.6,122,951,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1956,1804,1804,4094,0,0,0,0,0,0,25.83,25.78,25.84,10.02,46.29
$GC,987,1.58,578.7,2829,1956,1803,4094,31.5,9.3,128,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1803,1803,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.02,45.94
$GC,1031,1.58,578.7,2829,1956,1802,4094,27.4,9.6,134,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1802,1802,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.02,46.37
$GC,1076,1.58,578.7,2829,1956,1801,4094,23.3,9.2,140,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1801,1801,4095,0,0,0,0,0,0,26.17,26.20,26.19,10.02,46.22
$GC,1119,1.58,578.7,2829,1956,1800,4095,19.2,9.3,146,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1800,1800,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.02,46.33
$GC,1164,1.58,578.7,2830,1956,1799,4094,14.9,9.6,152,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1799,1799,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.03,47.59
$GC,1209,1.62,604.9,2829,1956,1798,4094,11.1,8.1,158,1218,0.00,0.00,2.75,0.248,8198,0.000,0.000,2830,1956,1778,1778,4094,0,0,0,0,0,0,26.29,25.72,25.27,10.05,47.83
$GC,1255,1.73,681.0,2829,1956,1778,4094,7.7,7.6,164,1266,0.35,0.00,5.57,0.515,10246,0.037,0.000,2876,1956,1688,1688,4094,0,0,0,0,0,0,26.10,25.87,25.27,10.08,48.93
$GC,1304,1.78,711.1,2875,1955,1688,4094,3.8,8.0,170,1313,0.10,0.00,3.30,0.311,10246,0.075,0.000,2893,1956,1654,1654,4094,0,0,0,0,0,0,26.08,25.89,25.31,10.08,49.72
$STATE,1327,end climb,SURFACE_DEPTH_REACHED
$STATE,1327,begin surface coast
$FINISH,0.1,1.023954
$STATE,1355,end surface coast,CONTROL_FINISHED_OK
$STATE,1355,begin surface
$SM_CCo,1452,0.00,0.000,0,0,1652,716.07
$SM_GC,0.82,27.98,0.00,0.00,0.023,0.000,0.000,230,1956,1652,-6.59,0.27,716.07,0,0,0,0,0,0,26.01,26.30,26.08
$IRIDIUM_FIX,5953.06,-17035.79,040817,002419
$TT8_MAMPS,0.025466,0.24717
$HUMID,51.29
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,1.80
$XPDR_PINGS,0
$24V_AH,23.80,11.681
$10V_AH,10.15,14.881
$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,45.100,5.600,77.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,489.050,60.250,174.922,733.861,55.749,33.413,460.770,0.000,426.904,0.000,0.540,0.000
$DEVICE_MAMPS,74.970,1277.550,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.327,480.830,380.743,563.695,731.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17879,177
$CAP_FILE_SIZE,34935,0
$CFSIZE,1024409600,996474880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,030650,6000.893,-17235.898,3,0.7,35,7.6,0.7,84.1,11,4.1