version: 66.13
glider: 401
mission: 22
dive: 479
start: 8 4 117 7 53 40
data:
$ID,401
$MISSION,22
$DIVE,479
$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,26
$R_STBD_OVSHOOT,66
$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
$GPS1,040817,072707,6000.8623,-17237.0273,9,0.8,16,7.6,0.0,228.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.4
$GPS2,040817,072707,6000.8623,-17237.0273,9,0.8,16,7.6,0.0,228.6,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.365755,0.113938
$KALMAN_X,56921.496094,-2465.313232,-423.273651,-178575.265625,85.283051
$KALMAN_Y,40985.210938,878.716736,95.251640,42396.464844,-57.194855
$MHEAD_RNG_PITCHd_Wd,279.7,39943,-7.8,-8.333,-12.27,10247
$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,-580.1,2400,1943,2354,4092,0.0,0.0,0,20,5.85,0.00,-4.35,0.000,20482,0.024,0.000,1834,1943,2828,2828,4095,0,0,0,0,0,0,26.07,28.83,26.08,10.31,51.69
$GC,23,-1.58,-580.1,1833,1943,2827,4095,0.0,0.0,1,33,0.00,1.05,-3.22,0.000,16644,0.000,1.278,1834,2338,3164,3164,4095,0,0,0,0,0,0,26.25,24.89,26.25,10.40,50.98
$GC,180,-1.58,-580.1,1832,2338,3167,4095,18.3,-10.6,24,189,0.00,0.98,0.00,0.000,1030,0.000,0.029,1833,1951,3167,3167,4094,0,0,0,0,0,0,26.04,26.03,26.09,10.43,50.39
$GC,225,-1.58,-580.1,1833,1950,3168,4094,22.9,-10.1,30,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3168,3168,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.41,49.72
$GC,270,-1.58,-580.1,1833,1950,3169,4095,27.5,-10.5,36,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3169,3169,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.40,49.01
$GC,316,-1.58,-580.1,1833,1950,3170,4095,32.2,-10.5,42,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3170,3170,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.39,47.95
$GC,361,-1.58,-580.1,1833,1950,3171,4094,37.2,-11.0,48,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3171,3171,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,47.36
$GC,405,-1.58,-580.1,1833,1950,3172,4094,42.1,-11.1,54,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3172,3172,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,46.92
$GC,450,-1.58,-580.1,1833,1950,3173,4095,46.9,-10.5,60,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3173,3173,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,46.53
$GC,494,-1.58,-580.1,1833,1950,3173,4095,51.5,-10.7,66,503,0.00,1.02,0.00,0.000,260,0.000,0.044,1834,2337,3173,3173,4094,0,0,0,0,0,0,26.46,26.17,26.48,10.37,46.41
$GC,547,-1.58,-580.1,1833,2337,3175,4094,57.1,-11.0,73,556,0.00,0.98,0.00,0.000,1030,0.000,0.030,1834,1946,3175,3175,4095,0,0,0,0,0,0,26.27,26.22,26.29,10.36,46.18
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,581,-0.45,0.0,1833,1946,3175,4095,60.6,-10.6,77,624,3.78,0.00,33.22,1.300,10244,0.054,0.000,2185,1946,2483,2483,4094,0,0,0,0,0,0,26.22,24.97,24.27,10.36,46.06
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,628,1.58,580.1,2185,1946,2483,4094,62.9,0.0,82,672,7.00,0.00,33.10,1.276,11270,0.037,0.000,2832,1946,1807,1807,4094,0,0,0,0,0,0,25.46,25.62,23.80,10.21,46.14
$GC,709,1.58,580.1,2832,1946,1807,4094,57.6,9.5,92,719,0.00,1.08,0.00,0.000,260,0.000,0.038,2832,2339,1807,1807,4094,0,0,0,0,0,0,25.44,25.19,25.45,10.06,44.60
$GC,781,1.58,580.1,2832,2338,1805,4094,50.3,9.7,102,790,0.00,1.00,0.00,0.000,1030,0.000,0.031,2832,1954,1805,1805,4094,0,0,0,0,0,0,25.48,25.49,25.55,10.05,45.74
$GC,828,1.58,580.1,2832,1954,1804,4094,45.7,10.1,108,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1803,1803,4095,0,0,0,0,0,0,25.84,25.86,25.85,10.05,45.78
$GC,873,1.58,580.1,2832,1954,1803,4095,41.1,9.9,114,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1803,1803,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.05,45.31
$GC,917,1.58,580.1,2832,1954,1802,4094,36.7,10.0,120,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1802,1802,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.04,45.35
$GC,962,1.58,580.1,2832,1954,1801,4094,32.3,9.7,126,971,0.00,1.05,0.00,0.000,260,0.000,0.041,2831,2341,1801,1801,4094,0,0,0,0,0,0,26.06,25.79,26.07,10.04,45.74
$GC,1041,1.58,580.1,2832,2340,1799,4094,25.0,9.5,137,1050,0.00,0.98,0.00,0.000,1030,0.000,0.031,2832,1962,1799,1799,4094,0,0,0,0,0,0,25.96,25.89,25.96,10.04,46.18
$GC,1087,1.58,580.1,2832,1961,1798,4094,20.5,9.4,143,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1961,1798,1798,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.04,46.45
$GC,1131,1.58,580.1,2832,1961,1797,4094,16.2,9.6,149,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1797,1797,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.04,47.00
$GC,1176,1.58,580.1,2832,1961,1796,4094,12.0,9.3,155,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1796,1796,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.07,47.00
$GC,1220,1.66,636.5,2832,1961,1795,4094,8.5,7.8,161,1230,0.20,0.00,4.10,0.424,10246,0.049,0.000,2863,1962,1740,1740,4094,0,0,0,0,0,0,26.10,25.89,25.28,10.09,49.21
$GC,1268,1.75,694.8,2863,1961,1739,4094,4.9,7.8,167,1277,0.12,0.00,4.72,0.446,10246,0.061,0.000,2885,1960,1672,1672,4094,0,0,0,0,0,0,26.10,25.89,25.31,10.10,49.13
$STATE,1313,end climb,FINISH_DEPTH_REACHED
$STATE,1313,begin subsurface finish
$FINISH1,1.5,1.023876,120
$GC,1319,0.18,120.2,2884,1961,1671,4094,1.5,7.1,173,1338,5.18,1.05,-5.95,0.000,20740,0.048,1.291,2400,2337,2349,2349,4094,0,0,0,0,0,0,26.06,24.90,26.10,10.11,50.19
$FINISH2,0.3
$STATE,1339,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1339,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,055842
$TT8_MAMPS,0.026215,0.206724
$HUMID,51.18
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.80,12.055
$10V_AH,10.22,15.269
$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,22.125,9.175,75.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.309,0.000,141.274,733.465,47.808,33.423,422.844,0.000,263.071,0.000,0.541,0.000
$DEVICE_MAMPS,61.200,1290.555,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.325,475.439,0.000,557.725,726.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,14314,175
$CAP_FILE_SIZE,31941,0
$CFSIZE,1024409600,995966976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,072707,6000.862,-17237.027,9,0.8,16,7.6,0.0,228.6,10,5.0