version: 66.13
glider: 401
mission: 22
dive: 555
start: 8 5 117 19 10 19
data:
$ID,401
$MISSION,22
$DIVE,555
$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,52
$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
$GPS1,050817,181946,6005.7227,-17310.6738,5,0.8,15,7.3,0.0,144.2,11,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-2.9
$GPS2,050817,181946,6005.7227,-17310.6738,5,0.8,15,7.3,0.0,144.2,11,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.385341,0.035910
$KALMAN_X,63612.433594,-2362.051025,-526.911255,-217121.750000,185.009705
$KALMAN_Y,43504.957031,802.214355,142.105835,48906.652344,-22.461670
$MHEAD_RNG_PITCHd_Wd,268.0,7729,-7.6,-8.333,-12.15,10510
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.57,-585.0,2392,1950,2372,4092,0.0,0.0,0,20,5.75,0.00,-4.35,0.000,20482,0.028,0.000,1840,1951,2853,2853,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.30,51.26
$GC,23,-1.57,-585.0,1840,1950,2852,4094,0.2,0.0,1,33,0.00,1.17,-2.97,0.000,16900,0.000,1.290,1840,1517,3169,3169,4095,0,0,0,0,0,0,26.29,24.89,26.29,10.40,51.26
$GC,135,-1.57,-585.0,1839,1516,3170,4095,11.4,-13.0,17,143,0.00,0.98,0.00,0.000,1030,0.000,0.027,1839,1936,3171,3171,4095,0,0,0,0,0,0,26.09,26.06,26.10,10.48,51.29
$GC,179,-1.57,-585.0,1839,1936,3171,4095,16.3,-10.2,23,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1937,3171,3171,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.46,50.78
$GC,224,-1.57,-585.0,1839,1938,3173,4095,21.1,-10.9,29,233,0.00,1.12,0.00,0.000,260,0.000,0.044,1840,2364,3173,3173,4094,0,0,0,0,0,0,26.34,26.06,26.36,10.43,50.47
$GC,270,-1.57,-585.0,1839,2363,3173,4094,25.9,-10.8,35,279,0.00,1.08,0.00,0.000,1030,0.000,0.029,1840,1933,3174,3174,4095,0,0,0,0,0,0,26.17,26.11,26.17,10.41,49.48
$GC,315,-1.57,-585.0,1839,1933,3174,4095,30.8,-10.5,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1933,3175,3175,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.40,48.11
$GC,359,-1.57,-585.0,1839,1933,3175,4095,35.5,-10.7,47,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1933,3175,3175,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.39,47.79
$GC,404,-1.57,-585.0,1839,1933,3176,4095,40.2,-10.6,53,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1933,3176,3176,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.12
$GC,450,-1.57,-585.0,1839,1933,3177,4095,44.9,-10.4,59,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1933,3177,3177,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.38,46.88
$GC,495,-1.57,-585.0,1839,1933,3177,4094,49.8,-10.7,65,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1933,3178,3178,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.37,47.28
$GC,539,-1.57,-585.0,1839,1933,3179,4094,54.4,-10.2,71,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1933,3179,3179,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.37,46.41
$GC,584,-1.57,-585.0,1839,1933,3179,4095,59.2,-10.4,77,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1933,3179,3179,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.37,46.41
$STATE,600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,601,begin apogee
$GC,606,-0.45,0.0,1839,1933,3180,4095,61.2,-10.8,79,650,3.72,0.00,33.38,1.320,10244,0.053,0.000,2184,1933,2484,2484,4094,0,0,0,0,0,0,26.25,24.98,24.27,10.36,46.57
$STATE,651,end apogee,CONTROL_FINISHED_OK
$STATE,651,begin climb
$GC,653,1.57,585.0,2184,1932,2484,4094,63.7,0.0,84,698,6.95,0.00,33.40,1.294,11270,0.037,0.000,2826,1933,1802,1802,4094,0,0,0,0,0,0,25.46,25.64,23.79,10.21,45.62
$GC,736,1.57,585.0,2826,1933,1801,4094,58.7,8.9,94,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1933,1801,1801,4094,0,0,0,0,0,0,25.46,25.46,25.46,10.06,44.68
$GC,779,1.57,585.0,2826,1932,1800,4094,54.4,9.4,100,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1933,1800,1800,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.06,44.95
$GC,824,1.57,585.0,2826,1933,1800,4094,50.2,9.6,106,834,0.00,1.17,0.00,0.000,260,0.000,0.041,2826,2361,1799,1799,4094,0,0,0,0,0,0,25.79,25.52,25.80,10.06,45.03
$GC,896,1.57,585.0,2826,2360,1798,4094,43.1,10.0,116,905,0.00,1.02,0.00,0.000,1030,0.000,0.029,2826,1962,1798,1798,4095,0,0,0,0,0,0,25.73,25.70,25.75,10.05,45.62
$GC,941,1.57,585.0,2826,1962,1797,4095,38.7,9.4,122,950,0.00,1.15,0.00,0.000,516,0.000,0.056,2826,1524,1796,1796,4094,0,0,0,0,0,0,26.01,25.71,26.02,10.05,45.43
$GC,992,1.57,585.0,2826,1524,1795,4094,34.0,9.1,129,1002,0.00,0.98,0.00,0.000,1030,0.000,0.026,2826,1950,1795,1795,4094,0,0,0,0,0,0,25.90,25.87,25.91,10.04,45.90
$GC,1039,1.57,585.0,2826,1950,1795,4094,29.9,9.1,135,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1951,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.05,46.02
$GC,1083,1.57,585.0,2826,1950,1794,4094,25.8,8.8,141,1092,0.00,1.08,0.00,0.000,260,0.000,0.043,2827,2357,1794,1794,4094,0,0,0,0,0,0,26.17,25.90,26.19,10.04,46.41
$GC,1141,1.57,585.0,2826,2357,1793,4094,20.4,9.3,149,1151,0.00,1.05,0.00,0.000,1030,0.000,0.031,2826,1946,1792,1792,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.05,46.81
$GC,1188,1.57,585.0,2826,1945,1791,4094,16.3,9.0,155,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1946,1792,1792,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.05,47.12
$GC,1232,1.57,585.0,2826,1945,1790,4094,12.3,8.7,161,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1946,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.08,47.91
$GC,1277,1.66,642.1,2826,1945,1789,4094,8.6,7.8,167,1287,0.20,0.00,4.10,0.430,10246,0.049,0.000,2858,1946,1735,1735,4094,0,0,0,0,0,0,26.11,25.91,25.28,10.10,49.68
$GC,1325,1.69,663.5,2857,1945,1733,4094,4.9,8.1,173,1334,0.00,0.00,2.85,0.248,8198,0.000,0.000,2858,1945,1711,1711,4094,0,0,0,0,0,0,26.32,25.76,25.32,10.12,50.39
$STATE,1361,end climb,SURFACE_DEPTH_REACHED
$STATE,1361,begin surface coast
$FINISH,0.2,1.019775
$STATE,1389,end surface coast,CONTROL_FINISHED_OK
$STATE,1389,begin surface
$SM_CCo,1485,0.00,0.000,0,0,1709,666.27
$SM_GC,0.93,27.50,0.00,0.00,0.022,0.000,0.000,231,1941,1709,-6.59,-0.36,666.27,0,0,0,0,0,0,26.06,26.36,26.13
$IRIDIUM_FIX,5952.82,-17420.78,050817,165054
$TT8_MAMPS,0.025466,0.213465
$HUMID,51.29
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.79,14.507
$10V_AH,10.20,17.957
$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,44.125,11.875,73.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,497.670,59.681,171.969,759.546,58.555,33.409,462.901,0.000,273.038,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1289.790,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.032,494.473,0.000,579.703,752.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,17870,182
$CAP_FILE_SIZE,36203,0
$CFSIZE,1024409600,992198656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,193554,6005.806,-17312.164,8,0.9,15,7.3,0.3,256.2,9,4.8