version: 66.13
glider: 401
mission: 22
dive: 518
start: 8 5 117 2 4 10
data:
$ID,401
$MISSION,22
$DIVE,518
$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,23
$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
$GPS1,050817,013845,6005.0205,-17301.0469,8,0.8,14,7.4,0.0,4.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.5
$GPS2,050817,013845,6005.0205,-17301.0469,8,0.8,14,7.4,0.0,4.8,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.371040,-0.097906
$KALMAN_X,55843.871094,-3463.056641,-1345.515991,-198319.265625,24.466675
$KALMAN_Y,43393.046875,1334.012207,736.837463,46591.582031,198.673035
$MHEAD_RNG_PITCHd_Wd,247.8,16703,-7.8,-8.333,-12.25,10290
$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,-582.6,2388,1951,2377,4092,0.0,0.0,0,21,5.72,0.00,-4.93,0.000,20482,0.024,0.000,1833,1951,2903,2903,4094,0,0,0,0,0,0,26.09,28.83,26.11,10.28,50.39
$GC,24,-1.58,-582.6,1832,1951,2903,4094,0.1,0.0,1,33,0.00,0.00,-2.38,0.000,16390,0.000,0.000,1833,1951,3157,3157,4095,0,0,0,0,0,0,26.27,25.57,26.27,10.39,50.51
$GC,69,-1.58,-582.6,1832,1951,3158,4095,4.0,-11.1,7,78,0.00,1.17,-0.08,0.000,16644,0.000,1.260,1833,2367,3180,3180,4094,0,0,0,0,0,0,26.20,24.82,25.79,10.44,50.55
$GC,140,-1.58,-582.6,1832,2367,3181,4094,13.3,-12.3,17,148,0.00,1.08,0.00,0.000,1030,0.000,0.029,1833,1945,3181,3181,4095,0,0,0,0,0,0,25.89,25.86,25.92,10.44,50.15
$GC,186,-1.58,-582.6,1832,1945,3182,4095,18.5,-11.5,23,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3182,3182,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.42,50.19
$GC,232,-1.58,-582.6,1832,1945,3183,4095,23.3,-9.8,29,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3183,3183,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.39,50.07
$GC,276,-1.58,-582.6,1832,1945,3183,4094,28.0,-10.7,35,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3183,3183,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.38,48.62
$GC,320,-1.58,-582.6,1832,1945,3185,4094,32.9,-10.9,41,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3185,3185,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.38,47.55
$GC,365,-1.58,-582.6,1832,1945,3186,4094,38.0,-11.4,47,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3186,3186,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.38,47.28
$GC,410,-1.58,-582.6,1832,1945,3186,4095,43.0,-11.4,53,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3187,3187,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.37,47.00
$GC,454,-1.58,-582.6,1831,1945,3187,4095,48.1,-11.4,59,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3188,3188,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.37,47.08
$GC,498,-1.58,-582.6,1832,1945,3188,4094,52.5,-9.5,65,506,0.00,1.08,0.00,0.000,516,0.000,0.052,1832,1523,3188,3188,4095,0,0,0,0,0,0,26.40,26.08,26.41,10.36,46.25
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,573,-0.45,0.0,1832,1949,3190,4095,60.1,-11.2,75,616,3.80,0.00,33.90,1.309,10244,0.053,0.000,2186,1949,2484,2484,4095,0,0,0,0,0,0,26.16,25.15,24.18,10.35,46.65
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,620,1.58,582.6,2186,1949,2484,4095,62.8,0.0,80,665,7.00,0.00,33.40,1.281,11270,0.037,0.000,2832,1953,1805,1805,4094,0,0,0,0,0,0,25.39,25.54,23.74,10.20,45.86
$GC,702,1.58,582.6,2831,1953,1804,4094,57.2,9.8,90,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1804,1804,4094,0,0,0,0,0,0,25.41,25.43,25.43,10.05,45.07
$GC,746,1.58,582.6,2831,1953,1803,4094,52.9,8.9,96,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1803,1803,4095,0,0,0,0,0,0,25.62,25.63,25.63,10.05,45.23
$GC,791,1.58,582.6,2832,1953,1803,4095,48.8,9.4,102,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1802,1802,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.04,45.03
$GC,835,1.58,582.6,2831,1952,1802,4094,44.7,9.1,108,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1953,1802,1802,4094,0,0,0,0,0,0,25.86,25.87,25.86,10.04,45.43
$GC,880,1.58,582.6,2831,1953,1801,4094,40.9,8.5,114,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1801,1801,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.03,45.58
$GC,924,1.58,582.6,2831,1953,1800,4094,36.6,9.9,120,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1800,1800,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.03,46.22
$GC,969,1.58,582.6,2832,1953,1799,4094,32.3,9.7,126,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1798,1798,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.03,46.77
$GC,1013,1.58,582.6,2831,1953,1798,4094,28.1,9.4,132,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1797,1797,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.03,46.49
$GC,1057,1.58,582.6,2831,1953,1796,4094,23.8,9.8,138,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1796,1796,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.03,46.25
$GC,1102,1.58,582.6,2831,1953,1795,4094,19.5,9.6,144,1111,0.00,1.10,0.00,0.000,260,0.000,0.042,2832,2367,1795,1795,4094,0,0,0,0,0,0,26.20,25.96,26.21,10.03,46.61
$GC,1179,1.58,582.6,2831,2366,1794,4094,12.1,9.5,155,1189,0.00,1.08,0.00,0.000,1030,0.000,0.032,2832,1947,1794,1794,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.07,47.75
$GC,1225,1.63,614.1,2831,1947,1793,4094,8.3,8.0,161,1235,0.00,0.00,3.03,0.288,8198,0.000,0.000,2833,1947,1766,1766,4094,0,0,0,0,0,0,26.29,25.72,25.28,10.09,48.70
$GC,1272,1.78,712.5,2832,1947,1765,4094,4.8,7.4,167,1283,0.52,0.00,6.62,0.538,10246,0.031,0.000,2891,1947,1652,1652,4094,0,0,0,0,0,0,26.10,25.86,25.27,10.10,49.56
$STATE,1304,end climb,FINISH_DEPTH_REACHED
$STATE,1304,begin subsurface finish
$FINISH1,1.9,1.024232,95
$GC,1310,0.14,95.3,2891,1947,1652,4094,1.9,8.3,171,1329,5.43,0.00,-5.97,0.000,20486,0.053,0.000,2393,1947,2376,2376,4094,0,0,0,0,0,0,25.98,25.51,26.06,10.09,49.68
$FINISH2,0.5
$STATE,1330,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1330,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,000930
$TT8_MAMPS,0.026215,0.25466
$HUMID,51.37
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.74,13.313
$10V_AH,10.13,16.657
$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,22.475,6.525,76.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,463.743,0.997,150.108,716.672,54.732,33.425,436.612,0.000,417.197,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1259.955,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.877,469.888,372.141,550.912,714.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,17741,173
$CAP_FILE_SIZE,32812,0
$CFSIZE,1024409600,994017280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,013845,6005.021,-17301.047,8,0.8,14,7.4,0.0,4.8,10,4.8