version: 66.13
glider: 401
mission: 22
dive: 506
start: 8 4 117 20 26 36
data:
$ID,401
$MISSION,22
$DIVE,506
$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,20
$R_STBD_OVSHOOT,39
$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
$GPS1,040817,200114,6002.1318,-17251.3145,6,1.1,22,7.5,0.5,264.7,9,5.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-4.9
$GPS2,040817,200114,6002.1318,-17251.3145,6,1.1,22,7.5,0.5,264.7,9,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.363704,0.128836
$KALMAN_X,57640.160156,-2753.671875,-829.866455,-192130.046875,-106.157104
$KALMAN_Y,39526.613281,655.917419,83.293617,46442.769531,-10.819145
$MHEAD_RNG_PITCHd_Wd,282.0,26591,-7.7,-8.333,-12.19,10432
$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,-585.0,2371,1964,2411,4092,0.0,0.0,0,21,5.55,0.00,-5.20,0.000,20482,0.027,0.000,1835,1965,2964,2964,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.25,49.13
$GC,24,-1.58,-585.0,1834,1964,2964,4094,0.1,0.0,1,34,0.00,1.12,-1.95,0.000,16644,0.000,1.284,1834,2369,3171,3171,4095,0,0,0,0,0,0,26.32,24.94,26.31,10.37,49.44
$GC,141,-1.58,-585.0,1834,2368,3173,4095,13.1,-13.1,18,150,0.00,1.08,0.00,0.000,1030,0.000,0.030,1834,1941,3173,3173,4095,0,0,0,0,0,0,26.10,26.02,26.09,10.40,49.92
$GC,187,-1.58,-585.0,1834,1941,3175,4095,18.6,-12.2,24,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3175,3175,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.39,49.52
$GC,231,-1.58,-585.0,1833,1941,3175,4094,23.8,-11.4,30,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3176,3176,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.39,48.81
$GC,276,-1.58,-585.0,1834,1941,3176,4095,29.2,-12.0,36,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3177,3177,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.39,48.34
$GC,320,-1.58,-585.0,1833,1941,3177,4095,34.4,-11.4,42,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3178,3178,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,48.26
$GC,366,-1.58,-585.0,1833,1941,3178,4094,39.4,-11.3,48,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3178,3178,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,48.22
$GC,412,-1.58,-585.0,1833,1941,3179,4095,44.4,-11.0,54,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3179,3179,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.99
$GC,458,-1.58,-585.0,1833,1941,3180,4094,49.0,-10.2,60,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3180,3180,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.36,47.67
$GC,505,-1.58,-585.0,1833,1941,3180,4094,53.8,-10.5,66,514,0.00,1.12,0.00,0.000,260,0.000,0.044,1834,2361,3181,3181,4095,0,0,0,0,0,0,26.48,26.20,26.50,10.36,47.16
$STATE,561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,568,-0.45,0.0,1834,1943,3181,4095,60.5,-11.3,74,611,3.78,0.00,33.42,1.313,10244,0.052,0.000,2186,1944,2484,2484,4094,0,0,0,0,0,0,26.23,25.22,24.25,10.35,47.28
$STATE,612,end apogee,CONTROL_FINISHED_OK
$STATE,612,begin climb
$GC,614,1.58,585.0,2185,1943,2484,4094,63.0,0.0,79,659,6.97,0.00,33.47,1.289,11270,0.037,0.000,2830,1943,1802,1802,4094,0,0,0,0,0,0,25.46,25.61,23.76,10.20,46.69
$GC,697,1.58,585.0,2829,1943,1802,4094,58.1,8.7,89,706,0.00,1.15,0.00,0.000,260,0.000,0.039,2830,2363,1802,1802,4094,0,0,0,0,0,0,25.44,25.18,25.44,10.05,45.03
$GC,781,1.58,585.0,2829,2362,1800,4094,49.7,9.8,101,791,0.00,1.05,0.00,0.000,1030,0.000,0.031,2830,1961,1800,1800,4094,0,0,0,0,0,0,25.58,25.51,25.58,10.04,45.51
$GC,827,1.58,585.0,2829,1961,1799,4094,45.0,10.4,107,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1961,1798,1798,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.04,46.37
$GC,872,1.58,585.0,2830,1960,1798,4094,40.6,9.7,113,881,0.00,1.15,0.00,0.000,516,0.000,0.058,2830,1523,1798,1798,4094,0,0,0,0,0,0,25.95,25.65,25.96,10.04,46.37
$GC,917,1.58,585.0,2829,1522,1797,4094,36.5,9.1,119,926,0.00,1.00,0.00,0.000,1030,0.000,0.026,2830,1957,1796,1796,4094,0,0,0,0,0,0,25.87,25.82,25.85,10.05,46.37
$GC,963,1.58,585.0,2829,1956,1796,4094,32.4,8.8,125,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1957,1795,1795,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.06,46.81
$GC,1007,1.58,585.0,2829,1957,1795,4094,28.2,9.2,131,1017,0.00,1.08,0.00,0.000,260,0.000,0.043,2830,2363,1795,1795,4094,0,0,0,0,0,0,26.13,25.85,26.14,10.07,47.12
$GC,1080,1.58,585.0,2829,2362,1793,4094,21.5,9.6,141,1089,0.00,1.05,0.00,0.000,1030,0.000,0.031,2830,1953,1793,1793,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.07,48.30
$GC,1125,1.58,585.0,2830,1953,1792,4095,17.2,9.4,147,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1792,1792,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.07,48.22
$GC,1169,1.58,585.0,2829,1953,1791,4094,12.9,9.4,153,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1791,1791,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.07,48.14
$GC,1214,1.58,585.0,2829,1953,1790,4094,8.7,9.3,159,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1790,1790,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.08,48.50
$GC,1259,1.58,585.0,2830,1953,1789,4094,4.7,9.0,165,1268,0.00,1.10,0.00,0.000,260,0.000,0.040,2830,2364,1788,1788,4094,0,0,0,0,0,0,26.33,26.03,26.34,10.09,48.93
$STATE,1289,end climb,FINISH_DEPTH_REACHED
$STATE,1289,begin subsurface finish
$FINISH1,1.9,1.024626,68
$GC,1296,0.10,67.8,2829,1945,1788,4094,1.9,8.3,169,1315,5.00,1.15,-5.57,0.000,20740,0.067,1.289,2380,2359,2410,2410,4094,0,0,0,0,0,0,26.06,24.95,26.14,10.09,49.44
$FINISH2,0.3
$STATE,1316,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1316,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,183138
$TT8_MAMPS,0.026215,0.241927
$HUMID,49.56
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.76,12.924
$10V_AH,10.14,16.232
$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,21.300,15.300,66.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,463.547,0.410,143.637,714.883,51.303,33.424,423.789,0.000,415.462,0.000,0.542,0.000
$DEVICE_MAMPS,66.555,1289.025,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.755,464.496,367.851,544.812,711.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,17839,171
$CAP_FILE_SIZE,31761,0
$CFSIZE,1024409600,994623488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,200114,6002.132,-17251.314,6,1.1,22,7.5,0.5,264.7,9,5.0