version: 66.13
glider: 401
mission: 22
dive: 471
start: 8 4 117 4 4 34
data:
$ID,401
$MISSION,22
$DIVE,471
$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,19
$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
$GPS1,040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-0.1
$GPS2,040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.352474,-0.149392
$KALMAN_X,55019.527344,-2955.604736,-896.043579,-174510.265625,258.156738
$KALMAN_Y,41201.898438,1110.349731,281.328217,41864.054688,93.680420
$MHEAD_RNG_PITCHd_Wd,239.4,9311,-7.8,-8.333,-12.28,10229
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.58,-579.0,2401,1959,2349,4092,0.0,0.0,0,19,5.72,0.00,-3.67,0.000,20482,0.028,0.000,1846,1959,2743,2743,4094,0,0,0,0,0,0,26.08,28.83,26.12,10.27,51.49
$GC,22,-1.58,-579.0,1845,1959,2743,4094,0.1,0.0,1,32,0.00,1.10,-4.03,0.000,16644,0.000,1.278,1845,2368,3162,3162,4094,0,0,0,0,0,0,26.27,24.91,26.27,10.36,51.81
$GC,134,-1.58,-579.0,1845,2368,3164,4094,10.4,-11.7,17,144,0.00,1.08,0.00,0.000,1030,0.000,0.031,1845,1941,3164,3164,4094,0,0,0,0,0,0,26.06,26.01,26.06,10.44,51.26
$GC,180,-1.58,-579.0,1845,1941,3165,4094,15.7,-10.8,23,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1941,3165,3165,4095,0,0,0,0,0,0,26.32,26.32,26.32,10.41,50.63
$GC,224,-1.58,-579.0,1845,1941,3165,4095,20.3,-10.4,29,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3166,3166,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.39,50.23
$GC,269,-1.58,-579.0,1845,1941,3166,4095,25.2,-11.1,35,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3166,3166,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.38,48.97
$GC,315,-1.58,-579.0,1845,1941,3167,4094,30.0,-10.8,41,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1941,3167,3167,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.37,48.50
$GC,360,-1.58,-579.0,1845,1941,3168,4094,34.9,-10.4,47,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1941,3168,3168,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.37,47.95
$GC,403,-1.58,-579.0,1845,1940,3169,4095,39.5,-10.9,53,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1941,3169,3169,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.36,47.32
$GC,448,-1.58,-579.0,1845,1941,3170,4095,44.3,-10.7,59,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3170,3170,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.35,47.75
$GC,492,-1.58,-579.0,1844,1941,3170,4095,49.0,-10.6,65,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1941,3171,3171,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.35,46.96
$GC,536,-1.58,-579.0,1845,1941,3171,4095,53.7,-10.5,71,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3172,3172,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.34,47.36
$GC,581,-1.58,-579.0,1844,1941,3172,4095,58.6,-11.3,77,590,0.00,1.12,0.00,0.000,260,0.000,0.040,1845,2367,3173,3173,4094,0,0,0,0,0,0,26.51,26.24,26.53,10.34,46.57
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,604,-0.45,0.0,1845,1949,3173,4095,60.5,-10.8,79,647,3.67,0.00,32.97,1.307,10244,0.053,0.000,2185,1949,2485,2485,4094,0,0,0,0,0,0,26.25,25.00,24.29,10.34,47.04
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,651,1.58,579.0,2185,1949,2485,4094,63.1,0.0,84,695,7.00,0.00,33.17,1.285,11270,0.038,0.000,2830,1949,1809,1809,4094,0,0,0,0,0,0,25.47,25.64,23.80,10.19,46.29
$GC,732,1.58,579.0,2829,1949,1808,4094,57.9,9.6,94,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1808,1808,4095,0,0,0,0,0,0,25.44,25.45,25.45,10.04,44.95
$GC,777,1.58,579.0,2829,1949,1807,4095,53.4,9.7,100,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1807,1807,4094,0,0,0,0,0,0,25.64,25.66,25.65,10.04,45.86
$GC,822,1.58,579.0,2829,1949,1806,4094,49.0,9.8,106,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1806,1806,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.04,45.62
$GC,866,1.58,579.0,2829,1949,1805,4094,45.0,8.5,112,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1805,1805,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.03,45.55
$GC,912,1.58,579.0,2829,1949,1805,4094,40.8,9.2,118,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1804,1804,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.03,46.49
$GC,957,1.58,579.0,2829,1949,1803,4094,36.3,9.6,124,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1803,1803,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.03,46.22
$GC,1001,1.58,579.0,2829,1949,1803,4094,32.0,9.8,130,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1803,1803,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.02,46.02
$GC,1045,1.58,579.0,2829,1949,1802,4094,27.7,9.8,136,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1802,1802,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.02,46.10
$GC,1091,1.58,579.0,2829,1949,1801,4094,23.3,9.6,142,1100,0.00,1.12,0.00,0.000,260,0.000,0.041,2830,2365,1800,1800,4094,0,0,0,0,0,0,26.17,25.89,26.19,10.02,46.49
$GC,1162,1.58,579.0,2829,2365,1799,4094,16.7,9.1,152,1171,0.00,1.05,0.00,0.000,1030,0.000,0.031,2830,1955,1799,1799,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.02,47.20
$GC,1209,1.58,579.0,2829,1954,1798,4094,12.7,8.8,158,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1798,1798,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.02,47.16
$GC,1254,1.61,599.7,2829,1954,1797,4094,8.9,8.1,164,1263,0.00,0.00,2.25,0.114,8198,0.000,0.000,2830,1954,1788,1788,4094,0,0,0,0,0,0,26.31,25.75,25.33,10.06,47.63
$GC,1299,1.74,683.8,2830,1954,1788,4094,5.4,7.5,170,1309,0.43,0.00,6.15,0.529,10246,0.033,0.000,2882,1955,1685,1685,4094,0,0,0,0,0,0,26.11,25.89,25.30,10.08,48.89
$STATE,1344,end climb,SURFACE_DEPTH_REACHED
$STATE,1344,begin surface coast
$FINISH,0.1,1.023922
$STATE,1372,end surface coast,CONTROL_FINISHED_OK
$STATE,1372,begin surface
$SM_CCo,1469,0.00,0.000,0,0,1683,687.74
$SM_GC,0.96,27.73,0.00,0.00,0.022,0.000,0.000,239,1954,1683,-6.55,0.18,687.74,0,0,0,0,0,0,26.09,26.32,26.13
$IRIDIUM_FIX,5925.93,-17425.36,040817,014702
$TT8_MAMPS,0.025466,0.217959
$HUMID,51.53
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,1.70
$XPDR_PINGS,0
$24V_AH,23.80,11.777
$10V_AH,10.22,14.982
$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,44.550,6.550,74.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,490.080,60.837,173.276,753.068,52.513,33.413,464.729,0.000,270.245,0.000,0.540,0.000
$DEVICE_MAMPS,52.785,1278.315,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.914,489.028,0.000,573.369,744.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,17824,180
$CAP_FILE_SIZE,34869,0
$CFSIZE,1024409600,996327424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,042954,6000.821,-17236.000,3,0.8,16,7.6,0.8,92.8,11,4.8