version: 66.13
glider: 401
mission: 22
dive: 521
start: 8 5 117 3 27 27
data:
$ID,401
$MISSION,22
$DIVE,521
$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,46
$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
$GPS1,050817,030131,6005.4023,-17301.9531,5,1.0,32,7.4,0.4,108.7,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.2
$GPS2,050817,030131,6005.4023,-17301.9531,5,1.0,32,7.4,0.4,108.7,9,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.383333,-0.045470
$KALMAN_X,56345.734375,-3429.169434,-1217.883423,-199838.218750,129.263306
$KALMAN_Y,44259.863281,1452.255005,774.917419,46275.078125,97.359802
$MHEAD_RNG_PITCHd_Wd,255.8,15802,-7.7,-8.333,-12.18,10443
$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,-585.0,2391,1949,2368,4092,0.0,0.0,0,21,5.72,0.00,-4.57,0.000,20482,0.024,0.000,1836,1950,2858,2858,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.29,50.43
$GC,24,-1.58,-585.0,1835,1950,2858,4095,0.1,0.0,1,33,0.00,0.00,-2.90,0.000,16390,0.000,0.000,1836,1950,3168,3168,4095,0,0,0,0,0,0,26.26,25.57,26.27,10.39,51.45
$GC,69,-1.58,-585.0,1835,1950,3169,4095,4.3,-12.5,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1950,3169,3169,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.46,51.10
$GC,115,-1.58,-585.0,1835,1950,3170,4095,10.9,-15.1,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1950,3170,3170,4095,0,0,0,0,0,0,26.25,26.25,26.25,10.47,50.55
$GC,159,-1.58,-585.0,1836,1950,3171,4095,16.8,-12.9,19,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1950,3171,3171,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.44,50.31
$GC,204,-1.58,-585.0,1835,1950,3171,4095,21.4,-9.9,25,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1950,3172,3172,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.41,49.88
$GC,249,-1.58,-585.0,1835,1950,3172,4094,26.1,-10.4,31,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1950,3173,3173,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.39,49.01
$GC,295,-1.58,-585.0,1835,1950,3173,4095,30.9,-10.8,37,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1950,3173,3173,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.39,47.59
$GC,340,-1.58,-585.0,1835,1950,3175,4095,35.9,-10.8,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1950,3175,3175,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,47.51
$GC,384,-1.58,-585.0,1835,1950,3175,4095,40.7,-10.6,49,393,0.00,1.08,0.00,0.000,516,0.000,0.050,1836,1522,3175,3175,4094,0,0,0,0,0,0,26.42,26.13,26.43,10.37,46.69
$GC,444,-1.58,-585.0,1835,1522,3176,4094,47.0,-11.0,57,452,0.00,0.98,0.00,0.000,1030,0.000,0.026,1836,1943,3176,3176,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.37,46.25
$GC,488,-1.58,-585.0,1835,1943,3177,4094,52.1,-11.0,63,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1944,3177,3177,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.37,46.77
$GC,533,-1.58,-585.0,1835,1943,3178,4094,56.9,-10.5,69,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1944,3178,3178,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.36,46.77
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,568,-0.45,0.0,1835,1943,3178,4094,60.3,-10.8,73,612,3.78,0.00,33.35,1.311,10244,0.051,0.000,2186,1947,2483,2483,4095,0,0,0,0,0,0,26.22,24.96,24.25,10.36,46.14
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,615,1.58,585.0,2186,1947,2483,4095,63.0,0.0,78,661,6.95,1.12,33.40,1.288,10756,0.037,0.050,2828,1522,1802,1802,4094,0,0,0,0,0,0,25.40,25.34,23.77,10.21,45.51
$GC,671,1.65,631.5,2828,1521,1802,4094,60.4,7.9,84,682,0.12,1.02,4.35,0.737,11270,0.045,0.024,2847,1958,1748,1748,4094,0,0,0,0,0,0,25.03,25.06,23.91,10.06,44.52
$GC,720,1.65,631.5,2847,1958,1747,4094,55.9,9.9,90,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1958,1747,1747,4094,0,0,0,0,0,0,25.51,25.52,25.51,10.05,45.23
$GC,764,1.65,631.5,2847,1958,1746,4094,51.4,10.0,96,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1958,1746,1746,4094,0,0,0,0,0,0,25.67,25.70,25.69,10.04,44.88
$GC,809,1.65,631.5,2847,1958,1745,4094,47.0,10.0,102,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1958,1745,1745,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.04,45.15
$GC,854,1.65,631.5,2847,1958,1743,4094,42.6,9.7,108,863,0.00,1.08,0.00,0.000,260,0.000,0.044,2847,2359,1744,1744,4094,0,0,0,0,0,0,25.89,25.62,25.91,10.04,45.31
$GC,925,1.65,631.5,2846,2358,1741,4094,35.4,10.2,118,935,0.00,1.05,0.00,0.000,1030,0.000,0.031,2847,1951,1742,1742,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.03,46.02
$GC,971,1.65,631.5,2847,1951,1741,4094,30.9,9.8,124,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1952,1741,1741,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.03,46.25
$GC,1017,1.65,631.5,2847,1951,1740,4094,26.5,9.5,130,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1952,1740,1740,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.02,45.98
$GC,1061,1.65,631.5,2847,1951,1739,4094,22.3,9.0,136,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1952,1739,1739,4094,0,0,0,0,0,0,26.16,26.18,26.17,10.02,46.37
$GC,1105,1.65,631.5,2846,1951,1738,4094,18.2,9.5,142,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1952,1739,1739,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.02,46.53
$GC,1150,1.65,631.5,2846,1952,1737,4094,14.2,8.9,148,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1952,1737,1737,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.05,47.55
$GC,1194,1.65,635.4,2846,1951,1736,4095,10.5,8.3,154,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1952,1736,1736,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.08,48.30
$GC,1238,1.79,727.1,2847,1951,1736,4094,7.1,7.4,160,1249,0.40,0.00,6.15,0.542,10246,0.034,0.000,2893,1952,1635,1635,4094,0,0,0,0,0,0,26.10,25.86,25.26,10.10,49.92
$GC,1287,1.82,745.0,2893,1951,1634,4094,3.3,8.2,166,1297,0.00,1.08,2.65,0.203,8452,0.000,0.037,2894,2356,1615,1615,4094,0,0,0,0,0,0,26.27,25.73,25.30,10.09,50.19
$STATE,1305,end climb,FINISH_DEPTH_REACHED
$STATE,1305,begin subsurface finish
$FINISH1,1.6,1.024094,105
$GC,1312,0.16,105.0,2893,1946,1615,4094,1.6,8.1,168,1331,5.40,0.00,-6.75,0.000,20486,0.052,0.000,2392,1946,2365,2365,4093,0,0,0,0,0,0,26.03,25.53,26.08,10.09,49.92
$FINISH2,0.2
$STATE,1332,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1332,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,013325
$TT8_MAMPS,0.026215,0.212716
$HUMID,50.70
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.77,13.411
$10V_AH,10.21,16.757
$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,22.375,9.550,79.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,462.208,0.413,157.408,715.103,54.346,33.427,458.756,0.000,256.149,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,50.490,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.422,461.830,0.000,541.693,706.708,0.000,0.000,0.000,0.000,0.000
$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,14321,170
$CAP_FILE_SIZE,34658,0
$CFSIZE,1024409600,993886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,030131,6005.402,-17301.953,5,1.0,32,7.4,0.4,108.7,9,4.6