version: 66.13
glider: 401
mission: 22
dive: 480
start: 8 4 117 8 18 4
data:
$ID,401
$MISSION,22
$DIVE,480
$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,24
$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,0.14
$_SM_ANGLEo,-1.9
$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,-0.367139,0.114692
$KALMAN_X,57346.257812,-2436.551514,-410.357697,-179041.296875,183.097290
$KALMAN_Y,40864.542969,860.006592,85.088394,42545.839844,-81.470566
$MHEAD_RNG_PITCHd_Wd,279.7,39943,-7.7,-8.333,-12.22,10350
$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,-585.0,2399,1950,2348,4091,0.0,0.0,0,20,5.88,0.00,-4.20,0.000,20482,0.025,0.000,1832,1951,2809,2809,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.29,51.65
$GC,23,-1.58,-585.0,1832,1950,2809,4095,0.1,0.0,1,32,0.00,0.00,-3.33,0.000,16390,0.000,0.000,1833,1951,3170,3170,4095,0,0,0,0,0,0,26.26,25.57,26.27,10.39,51.73
$GC,68,-1.58,-585.0,1832,1950,3171,4095,4.3,-12.1,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1951,3171,3171,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.48,51.85
$GC,112,-1.58,-585.0,1832,1950,3173,4095,10.9,-14.4,13,121,0.00,1.02,0.00,0.000,260,0.000,0.046,1832,2334,3173,3173,4094,0,0,0,0,0,0,26.25,25.96,26.26,10.47,51.73
$GC,183,-1.58,-585.0,1832,2334,3174,4094,19.2,-10.4,23,193,0.00,0.98,0.00,0.000,1030,0.000,0.030,1832,1945,3174,3174,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.41,50.39
$GC,230,-1.58,-585.0,1832,1945,3175,4095,23.9,-10.4,29,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1946,3175,3175,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.40,49.52
$GC,276,-1.58,-585.0,1831,1945,3175,4095,28.6,-10.3,35,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1945,3175,3175,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.39,48.81
$GC,322,-1.58,-585.0,1832,1945,3177,4094,33.5,-10.3,41,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1945,3177,3177,4095,0,0,0,0,0,0,26.39,26.40,26.41,10.38,47.87
$GC,366,-1.58,-585.0,1831,1945,3177,4095,38.4,-11.0,47,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1945,3177,3177,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,47.63
$GC,411,-1.58,-585.0,1831,1945,3178,4094,43.2,-10.7,53,420,0.00,1.05,0.00,0.000,260,0.000,0.042,1832,2339,3178,3178,4095,0,0,0,0,0,0,26.44,26.16,26.45,10.37,47.04
$GC,471,-1.58,-585.0,1832,2338,3179,4095,49.3,-10.4,61,480,0.00,0.98,0.00,0.000,1030,0.000,0.030,1832,1947,3179,3179,4094,0,0,0,0,0,0,26.24,26.21,26.27,10.36,46.85
$GC,517,-1.58,-585.0,1832,1947,3181,4094,54.2,-10.7,67,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3180,3180,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.36,46.73
$GC,564,-1.58,-585.0,1832,1947,3181,4094,59.2,-10.9,73,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3181,3181,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,46.37
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,585,-0.45,0.0,1832,1947,3182,4095,61.3,-10.9,75,629,3.83,0.00,33.53,1.316,10244,0.054,0.000,2185,1947,2483,2483,4095,0,0,0,0,0,0,26.24,24.97,24.27,10.35,46.22
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,632,1.58,585.0,2185,1947,2483,4095,63.8,0.0,80,677,6.97,0.00,33.35,1.291,11270,0.037,0.000,2830,1947,1802,1802,4094,0,0,0,0,0,0,25.45,25.61,23.77,10.20,45.94
$GC,715,1.58,585.0,2829,1947,1801,4094,58.4,9.7,90,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1948,1802,1802,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.05,44.95
$GC,761,1.58,585.0,2829,1947,1800,4094,53.7,9.9,96,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1800,1800,4094,0,0,0,0,0,0,25.64,25.66,25.65,10.05,45.51
$GC,807,1.58,585.0,2830,1947,1799,4094,49.2,9.7,102,817,0.00,1.08,0.00,0.000,260,0.000,0.040,2830,2341,1799,1799,4094,0,0,0,0,0,0,25.78,25.52,25.79,10.05,45.15
$GC,898,1.58,585.0,2829,2341,1797,4094,40.0,9.9,115,907,0.00,1.00,0.00,0.000,1030,0.000,0.031,2830,1954,1797,1797,4094,0,0,0,0,0,0,25.75,25.70,25.77,10.03,46.02
$GC,944,1.58,585.0,2829,1953,1796,4094,35.9,9.0,121,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1796,1796,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.03,45.94
$GC,988,1.58,585.0,2829,1953,1795,4094,31.9,8.7,127,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1795,1795,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.03,46.14
$GC,1032,1.58,585.0,2829,1953,1794,4094,27.9,9.0,133,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.03,46.53
$GC,1077,1.58,585.0,2830,1953,1794,4094,23.9,9.0,139,1087,0.00,1.02,0.00,0.000,260,0.000,0.041,2830,2336,1794,1794,4094,0,0,0,0,0,0,26.17,25.90,26.19,10.03,46.53
$GC,1137,1.58,585.0,2829,2335,1792,4094,18.5,9.2,147,1146,0.00,0.93,0.00,0.000,1030,0.000,0.031,2830,1971,1792,1792,4094,0,0,0,0,0,0,26.02,25.98,26.03,10.04,47.08
$GC,1184,1.59,593.0,2829,1971,1791,4094,14.5,8.3,153,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1971,1791,1791,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.07,47.28
$GC,1230,1.66,639.9,2829,1970,1790,4094,10.9,7.9,159,1241,0.17,0.00,4.07,0.435,10246,0.054,0.000,2858,1971,1736,1736,4094,0,0,0,0,0,0,26.10,25.89,25.26,10.09,48.58
$GC,1278,1.74,693.0,2857,1971,1736,4094,7.2,7.8,165,1288,0.15,0.00,4.53,0.448,10246,0.054,0.000,2881,1971,1674,1674,4094,0,0,0,0,0,0,26.10,25.89,25.28,10.09,49.56
$GC,1327,1.90,799.1,2881,1971,1672,4094,3.5,7.3,171,1337,0.40,0.00,6.97,0.535,10246,0.039,0.000,2927,1970,1551,1551,4094,0,0,0,0,0,0,26.06,25.84,25.27,10.10,50.66
$STATE,1345,end climb,SURFACE_DEPTH_REACHED
$STATE,1345,begin surface coast
$FINISH,0.4,1.023921
$STATE,1374,end surface coast,CONTROL_FINISHED_OK
$STATE,1374,begin surface
$SM_CCo,1472,0.00,0.000,0,0,1550,803.65
$SM_GC,0.90,28.40,0.00,0.00,0.023,0.000,0.000,229,1967,1550,-6.59,0.77,803.65,0,0,0,0,0,0,25.94,26.25,26.03
$IRIDIUM_FIX,5925.93,-17425.36,040817,055842
$TT8_MAMPS,0.026215,0.244923
$HUMID,51.77
$INTERNAL_PRESSURE,10.043
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.77,12.082
$10V_AH,10.16,15.309
$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,45.800,9.075,82.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,501.640,60.231,174.897,739.845,57.175,33.411,466.777,0.000,427.356,0.000,0.540,0.000
$DEVICE_MAMPS,54.315,45.900,1315.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.050,480.805,380.744,564.048,737.025,0.000,0.000,0.000,0.000,0.000
$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,17819,177
$CAP_FILE_SIZE,35861,0
$CFSIZE,1024409600,995885056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,084353,6000.941,-17238.516,7,0.7,42,7.6,0.4,129.0,11,4.8