version: 66.13
glider: 401
mission: 22
dive: 552
start: 8 5 117 17 46 41
data:
$ID,401
$MISSION,22
$DIVE,552
$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,37
$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
$GPS1,050817,165621,6005.6968,-17309.6250,5,0.8,16,7.3,0.5,117.9,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-1.2
$GPS2,050817,165621,6005.6968,-17309.6250,5,0.8,16,7.3,0.5,117.9,9,4.7
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.382856,0.001975
$KALMAN_X,63110.738281,-2405.408447,-538.525513,-215571.234375,207.518799
$KALMAN_Y,43522.761719,834.355652,155.955948,48794.894531,23.155609
$MHEAD_RNG_PITCHd_Wd,263.0,8699,-7.8,-8.333,-12.28,10232
$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,-579.2,2391,1950,2374,4092,0.0,0.0,0,21,5.78,0.00,-5.07,0.000,20482,0.025,0.000,1834,1950,2930,2930,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.29,50.90
$GC,24,-1.58,-579.2,1833,1950,2930,4095,0.1,0.0,1,34,0.00,1.15,-1.95,0.000,16900,0.000,1.291,1834,1524,3163,3163,4094,0,0,0,0,0,0,26.27,24.88,26.26,10.41,51.37
$GC,104,-1.58,-579.2,1833,1524,3165,4094,9.9,-14.9,12,113,0.00,1.00,0.00,0.000,1030,0.000,0.027,1833,1947,3165,3165,4094,0,0,0,0,0,0,26.03,25.98,26.03,10.47,51.14
$GC,151,-1.58,-579.2,1833,1948,3166,4094,15.4,-10.8,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1948,3166,3166,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,50.78
$GC,197,-1.58,-579.2,1833,1949,3168,4095,20.4,-11.0,24,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3167,3167,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.41,50.27
$GC,243,-1.58,-579.2,1833,1949,3168,4095,25.5,-10.9,30,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3168,3168,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.40,50.11
$GC,289,-1.58,-579.2,1833,1949,3169,4095,30.6,-11.1,36,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3169,3169,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.40,48.46
$GC,333,-1.58,-579.2,1833,1949,3169,4095,35.5,-10.5,42,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3170,3170,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.38,47.79
$GC,378,-1.58,-579.2,1833,1949,3171,4094,40.2,-10.6,48,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3170,3170,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.38,48.26
$GC,423,-1.58,-579.2,1833,1949,3171,4095,45.0,-10.9,54,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3171,3171,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.37,47.28
$GC,467,-1.58,-579.2,1833,1949,3172,4095,49.8,-10.5,60,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3172,3172,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.37,46.88
$GC,512,-1.58,-579.2,1833,1950,3173,4094,54.6,-10.9,66,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3173,3173,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.36,46.65
$GC,556,-1.58,-579.2,1833,1950,3174,4095,59.4,-10.9,72,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3174,3174,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.36,46.61
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,577,-0.45,0.0,1833,1950,3174,4095,61.4,-10.9,74,621,3.83,0.00,33.12,1.319,10244,0.053,0.000,2186,1950,2484,2484,4095,0,0,0,0,0,0,26.22,24.95,24.24,10.37,46.61
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,625,1.58,579.2,2186,1950,2484,4095,63.8,0.0,79,670,6.95,0.00,33.15,1.290,11270,0.036,0.000,2830,1950,1809,1809,4095,0,0,0,0,0,0,25.46,25.62,23.77,10.21,46.41
$GC,707,1.58,579.2,2829,1950,1808,4095,58.6,9.4,89,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1950,1808,1808,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.06,45.51
$GC,753,1.58,579.2,2829,1950,1807,4094,54.0,9.9,95,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1951,1807,1807,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.06,45.51
$GC,800,1.58,579.2,2829,1950,1806,4094,49.5,9.6,101,809,0.00,1.12,0.00,0.000,260,0.000,0.042,2830,2370,1806,1806,4094,0,0,0,0,0,0,25.79,25.53,25.80,10.05,45.39
$GC,865,1.58,579.2,2829,2370,1805,4094,42.9,9.9,110,873,0.00,1.08,0.00,0.000,1030,0.000,0.030,2830,1954,1805,1805,4094,0,0,0,0,0,0,25.71,25.67,25.74,10.05,46.37
$GC,909,1.58,579.2,2829,1953,1803,4094,38.6,9.4,116,919,0.00,1.12,0.00,0.000,516,0.000,0.056,2830,1525,1803,1803,4094,0,0,0,0,0,0,26.00,25.70,26.01,10.05,45.78
$GC,955,1.58,579.2,2829,1525,1803,4094,34.4,9.2,122,963,0.00,0.98,0.00,0.000,1030,0.000,0.026,2830,1949,1803,1803,4094,0,0,0,0,0,0,25.91,25.85,25.89,10.04,46.10
$GC,999,1.58,579.2,2829,1949,1802,4094,30.5,8.8,128,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1802,1802,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.04,46.25
$GC,1044,1.58,579.2,2829,1948,1801,4094,26.6,8.4,134,1054,0.00,1.10,0.00,0.000,260,0.000,0.044,2830,2367,1801,1801,4094,0,0,0,0,0,0,26.16,25.88,26.17,10.04,46.57
$GC,1104,1.58,579.2,2829,2366,1800,4094,21.1,9.5,142,1113,0.00,1.08,0.00,0.000,1030,0.000,0.031,2830,1947,1800,1800,4094,0,0,0,0,0,0,26.01,25.96,26.04,10.04,47.04
$GC,1150,1.58,579.2,2829,1946,1799,4094,17.0,8.9,148,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1947,1798,1798,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.05,47.44
$GC,1197,1.58,579.2,2829,1946,1797,4094,13.0,8.7,154,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1947,1798,1798,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.06,47.40
$GC,1241,1.61,603.1,2829,1946,1796,4094,9.2,8.1,160,1250,0.00,0.00,2.60,0.209,8198,0.000,0.000,2830,1947,1780,1780,4094,0,0,0,0,0,0,26.32,25.75,25.29,10.09,48.66
$GC,1288,1.74,689.3,2829,1946,1779,4094,5.8,7.5,166,1298,0.45,0.00,6.07,0.529,10246,0.031,0.000,2884,1947,1678,1678,4094,0,0,0,0,0,0,26.13,25.90,25.28,10.12,49.76
$STATE,1333,end climb,SURFACE_DEPTH_REACHED
$STATE,1333,begin surface coast
$FINISH,0.3,1.024220
$STATE,1356,end surface coast,CONTROL_FINISHED_OK
$STATE,1356,begin surface
$SM_CCo,1453,0.00,0.000,0,0,1677,693.75
$SM_GC,0.63,27.73,0.00,0.00,0.021,0.000,0.000,237,1946,1677,-6.55,-0.18,693.75,0,0,0,0,0,0,26.11,26.33,26.15
$IRIDIUM_FIX,5925.93,-17425.36,050817,152648
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.49
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.77,14.410
$10V_AH,10.16,17.856
$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,44.725,8.625,74.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,490.680,59.998,173.187,727.717,62.234,33.412,460.294,0.000,422.550,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1291.320,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.289,475.349,376.448,557.717,725.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17772,175
$CAP_FILE_SIZE,35165,0
$CFSIZE,1024409600,992346112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,181202,6005.743,-17310.730,8,0.8,33,7.3,0.0,118.1,10,4.5