version: 66.13
glider: 401
mission: 22
dive: 522
start: 8 5 117 3 51 43
data:
$ID,401
$MISSION,22
$DIVE,522
$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,27
$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,0.13
$_SM_ANGLEo,-2.4
$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,-0.379438,-0.056917
$KALMAN_X,56742.226562,-3391.710938,-1158.299438,-200332.234375,202.912476
$KALMAN_Y,44343.320312,1457.880859,755.899719,46205.257812,107.864807
$MHEAD_RNG_PITCHd_Wd,254.1,15802,-7.8,-8.333,-12.25,10286
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.58,-582.4,2392,1945,2365,4092,0.0,0.0,0,21,5.78,0.00,-4.30,0.000,20482,0.025,0.000,1834,1946,2830,2830,4095,0,0,0,0,0,0,26.10,28.83,26.11,10.28,51.57
$GC,24,-1.58,-582.4,1833,1945,2830,4095,0.1,0.0,1,33,0.00,0.00,-3.20,0.000,16390,0.000,0.000,1834,1946,3167,3167,4095,0,0,0,0,0,0,26.27,25.57,26.28,10.38,50.98
$GC,69,-1.58,-582.4,1833,1945,3168,4095,4.4,-12.4,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3168,3168,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.46,50.90
$GC,113,-1.58,-582.4,1833,1945,3169,4095,10.7,-14.5,13,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3169,3169,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.46,51.53
$GC,157,-1.58,-582.4,1833,1945,3170,4094,16.4,-12.2,19,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1946,3170,3170,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.44,50.98
$GC,202,-1.58,-582.4,1833,1945,3171,4095,21.1,-10.0,25,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3171,3171,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.40,50.31
$GC,247,-1.58,-582.4,1833,1945,3172,4095,26.1,-11.4,31,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3172,3172,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.39,49.84
$GC,292,-1.58,-582.4,1833,1945,3173,4095,31.1,-11.0,37,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3173,3173,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,47.99
$GC,336,-1.58,-582.4,1833,1946,3174,4095,36.0,-10.9,43,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3174,3174,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,47.83
$GC,381,-1.58,-582.4,1833,1945,3175,4095,40.9,-11.2,49,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3175,3175,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.37,47.20
$GC,427,-1.58,-582.4,1833,1944,3175,4095,45.9,-11.0,55,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3176,3176,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.36,46.77
$GC,473,-1.58,-582.4,1833,1945,3176,4095,50.9,-10.3,61,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3177,3177,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.36,46.85
$GC,520,-1.58,-582.4,1833,1945,3178,4095,56.2,-11.8,67,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3177,3177,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.35,46.37
$STATE,556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,556,begin apogee
$GC,561,-0.45,0.0,1833,1945,3178,4095,60.5,-10.8,72,605,3.80,0.00,33.25,1.314,10246,0.053,0.000,2185,1945,2485,2485,4094,0,0,0,0,0,0,26.22,24.95,24.25,10.35,46.18
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,608,1.58,582.4,2184,1945,2484,4094,62.9,0.0,77,653,6.97,0.00,33.33,1.285,10246,0.037,0.000,2833,1945,1805,1805,4094,0,0,0,0,0,0,25.46,24.66,23.77,10.20,46.37
$GC,690,1.58,582.4,2832,1945,1803,4094,57.5,9.5,87,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1945,1804,1804,4094,0,0,0,0,0,0,25.44,25.45,25.44,10.04,44.80
$GC,737,1.58,582.4,2831,1945,1803,4094,52.9,10.1,93,746,0.00,1.10,0.00,0.000,260,0.000,0.041,2832,2349,1803,1803,4094,0,0,0,0,0,0,25.65,25.38,25.65,10.05,45.11
$GC,808,1.58,582.4,2831,2349,1802,4094,45.5,10.4,103,818,0.00,1.02,0.00,0.000,1030,0.000,0.031,2833,1956,1802,1802,4094,0,0,0,0,0,0,25.63,25.59,25.66,10.04,45.51
$GC,855,1.58,582.4,2832,1955,1801,4094,41.0,10.0,109,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1801,1801,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.04,45.39
$GC,899,1.58,582.4,2832,1955,1800,4094,36.6,9.7,115,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1799,1799,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.03,45.98
$GC,943,1.58,582.4,2832,1955,1799,4094,32.2,9.8,121,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1798,1798,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.03,45.70
$GC,988,1.58,582.4,2832,1955,1798,4094,27.9,9.7,127,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1797,1797,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.03,45.98
$GC,1033,1.58,582.4,2832,1955,1796,4094,23.7,9.3,133,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1796,1796,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.03,46.81
$GC,1077,1.58,582.4,2832,1955,1796,4094,19.7,9.1,139,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1795,1795,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.03,46.65
$GC,1122,1.58,582.4,2832,1955,1795,4094,15.6,9.0,145,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1794,1794,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.04,47.08
$GC,1167,1.62,606.6,2832,1955,1793,4094,12.0,8.1,151,1175,0.00,0.00,2.67,0.235,8198,0.000,0.000,2832,1956,1775,1775,4094,0,0,0,0,0,0,26.27,25.68,25.22,10.08,47.44
$GC,1213,1.73,685.1,2832,1955,1774,4094,8.5,7.6,157,1224,0.38,1.10,5.70,0.530,10500,0.035,0.041,2880,2363,1684,1684,4094,0,0,0,0,0,0,26.10,25.89,25.23,10.09,48.89
$GC,1273,1.73,685.1,2880,2362,1683,4094,3.4,8.4,165,1283,0.00,1.05,0.00,0.000,1030,0.000,0.031,2880,1952,1683,1683,4094,0,0,0,0,0,0,26.06,26.01,26.07,10.09,49.68
$STATE,1290,end climb,SURFACE_DEPTH_REACHED
$STATE,1290,begin surface coast
$FINISH,0.1,1.024062
$STATE,1320,end surface coast,CONTROL_FINISHED_OK
$STATE,1320,begin surface
$SM_CCo,1417,0.00,0.000,0,0,1682,689.46
$SM_GC,0.79,27.80,0.00,0.00,0.023,0.000,0.000,230,1951,1682,-6.59,0.09,689.46,0,0,0,0,0,0,26.03,26.32,26.09
$IRIDIUM_FIX,5952.82,-17420.78,050817,013325
$TT8_MAMPS,0.026215,0.247919
$HUMID,50.90
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.77,13.436
$10V_AH,10.15,16.795
$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,44.725,4.275,74.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,471.144,60.357,172.867,713.410,59.142,33.413,459.871,0.000,414.219,0.000,0.540,0.000
$DEVICE_MAMPS,52.785,41.310,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.515,464.431,367.830,544.809,710.046,0.000,0.000,0.000,0.000,0.000
$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,17793,171
$CAP_FILE_SIZE,33659,0
$CFSIZE,1024409600,993820672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,041610,6005.536,-17302.375,4,0.9,15,7.4,0.0,59.6,10,5.0