version: 66.13
glider: 401
mission: 22
dive: 572
start: 8 6 117 3 8 28
data:
$ID,401
$MISSION,22
$DIVE,572
$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,49
$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
$GPS1,060817,024317,6011.3252,-17319.6211,7,0.7,7,7.2,0.0,0.0,11,0.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.4
$GPS2,060817,024317,6011.3252,-17319.6211,7,0.7,7,7.2,0.0,0.0,11,0.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260449,0.268500
$KALMAN_X,60588.164062,-2772.697021,-910.258118,-221772.515625,29.836487
$KALMAN_Y,44767.332031,1727.751953,1051.232788,56197.863281,215.394775
$MHEAD_RNG_PITCHd_Wd,308.7,30006,-8.2,-8.333,-12.56,9658
$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,-1.56,-545.5,2398,1962,2358,4092,0.0,0.0,0,20,5.75,0.00,-4.10,0.000,20482,0.024,0.000,1839,1962,2820,2820,4094,0,0,0,0,0,0,26.12,28.83,26.15,10.32,50.39
$GC,23,-1.56,-545.5,1838,1962,2820,4094,0.1,0.0,1,33,0.00,1.10,-2.83,0.000,16644,0.000,1.271,1838,2358,3125,3125,4095,0,0,0,0,0,0,26.30,24.91,26.30,10.42,50.23
$GC,88,-1.56,-545.5,1838,2358,3126,4095,6.4,-13.5,10,98,0.00,1.02,0.00,0.000,1030,0.000,0.028,1838,1952,3126,3126,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.49,50.82
$GC,134,-1.56,-545.5,1838,1952,3127,4095,12.8,-14.1,16,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1952,3127,3127,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.48,50.27
$GC,177,-1.56,-545.5,1838,1952,3128,4095,18.4,-12.9,22,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1952,3129,3129,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.46,49.80
$GC,222,-1.56,-545.5,1838,1952,3130,4094,24.1,-12.7,28,231,0.00,1.10,0.00,0.000,516,0.000,0.049,1838,1520,3129,3129,4095,0,0,0,0,0,0,26.36,26.07,26.37,10.44,49.05
$GC,261,-1.56,-545.5,1838,1520,3130,4095,28.7,-11.8,33,271,0.00,0.95,0.00,0.000,1030,0.000,0.026,1838,1934,3131,3131,4095,0,0,0,0,0,0,26.18,26.17,26.20,10.43,49.17
$GC,308,-1.56,-545.5,1838,1934,3131,4095,34.0,-11.5,39,318,0.00,1.12,0.00,0.000,260,0.000,0.044,1838,2363,3131,3131,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.42,47.71
$GC,360,-1.56,-545.5,1838,2363,3132,4095,39.8,-11.3,46,370,0.00,1.00,0.00,0.000,1030,0.000,0.027,1838,1966,3132,3132,4095,0,0,0,0,0,0,26.21,26.21,26.25,10.41,47.95
$GC,406,-1.56,-545.5,1838,1966,3133,4095,44.7,-11.0,52,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1966,3133,3133,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.40,47.44
$GC,451,-1.56,-545.5,1838,1966,3134,4094,49.8,-11.6,58,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1966,3134,3134,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.39,46.77
$GC,496,-1.56,-545.5,1838,1966,3135,4095,54.9,-11.4,64,506,0.00,1.12,0.00,0.000,516,0.000,0.049,1838,1520,3135,3135,4095,0,0,0,0,0,0,26.51,26.21,26.51,10.38,46.73
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,546,begin apogee
$GC,553,-0.45,0.0,1838,1948,3136,4095,60.6,-10.8,71,597,3.75,0.00,31.20,1.292,10244,0.054,0.000,2185,1949,2485,2485,4094,0,0,0,0,0,0,26.25,25.04,24.32,10.38,46.22
$STATE,598,end apogee,CONTROL_FINISHED_OK
$STATE,598,begin climb
$GC,600,1.56,545.5,2185,1949,2485,4094,63.3,0.0,76,645,6.85,0.00,31.17,1.269,11270,0.035,0.000,2824,1952,1850,1850,4094,0,0,0,0,0,0,25.54,25.71,23.86,10.24,45.51
$GC,683,1.56,545.5,2824,1951,1850,4094,57.7,9.6,86,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1952,1850,1850,4094,0,0,0,0,0,0,25.52,25.53,25.53,10.10,44.52
$GC,729,1.56,545.5,2824,1951,1848,4094,53.1,10.1,92,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1952,1849,1849,4094,0,0,0,0,0,0,25.72,25.72,25.72,10.09,44.40
$GC,775,1.56,545.5,2824,1951,1847,4094,48.6,9.4,98,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1952,1847,1847,4095,0,0,0,0,0,0,25.84,25.86,25.85,10.09,45.03
$GC,819,1.56,545.5,2824,1951,1846,4095,44.3,9.7,104,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1952,1846,1846,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.09,45.62
$GC,864,1.56,545.5,2824,1951,1846,4094,40.0,9.7,110,873,0.00,1.10,0.00,0.000,260,0.000,0.041,2824,2364,1845,1845,4094,0,0,0,0,0,0,26.01,25.77,26.02,10.09,45.19
$GC,915,1.56,545.5,2824,2364,1844,4094,34.8,10.1,117,925,0.00,1.08,0.00,0.000,1030,0.000,0.031,2824,1946,1844,1844,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.09,45.62
$GC,962,1.56,545.5,2824,1946,1843,4094,30.4,9.5,123,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1946,1843,1843,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.08,46.29
$GC,1009,1.56,545.5,2824,1946,1842,4094,26.3,8.8,129,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1946,1842,1842,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.09,46.22
$GC,1055,1.56,545.5,2823,1945,1841,4094,22.3,8.4,135,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1946,1841,1841,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.10,46.88
$GC,1101,1.56,546.0,2824,1946,1840,4094,18.4,8.3,141,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1946,1841,1841,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.11,47.08
$GC,1148,1.57,549.3,2823,1946,1840,4094,14.5,8.3,147,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1946,1840,1840,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.11,47.67
$GC,1192,1.62,583.3,2824,1946,1838,4094,10.9,8.0,153,1203,0.10,1.08,3.33,0.343,10500,0.075,0.036,2844,2369,1805,1805,4094,0,0,0,0,0,0,26.15,25.77,25.29,10.14,48.54
$GC,1258,1.62,583.3,2844,2369,1803,4094,5.2,8.7,162,1268,0.00,1.02,0.00,0.000,1030,0.000,0.031,2844,1964,1803,1803,4094,0,0,0,0,0,0,26.14,26.13,26.15,10.16,49.64
$STATE,1302,end climb,FINISH_DEPTH_REACHED
$STATE,1302,begin subsurface finish
$FINISH1,1.6,1.024036,109
$GC,1309,0.16,109.0,2844,1963,1802,4094,1.6,7.7,168,1327,4.82,0.00,-4.85,0.000,20998,0.053,0.000,2398,1964,2361,2361,4094,0,0,0,0,0,0,26.11,25.62,26.19,10.17,50.03
$FINISH2,0.2
$STATE,1328,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1329,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,011534
$TT8_MAMPS,0.026215,0.252413
$HUMID,50.98
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.86,15.057
$10V_AH,10.15,18.566
$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,21.275,12.725,65.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,466.969,0.961,149.083,709.380,58.734,33.427,438.457,0.000,411.420,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,1271.430,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.434,461.757,365.681,541.326,705.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330876
$DATA_FILE_SIZE,17848,170
$CAP_FILE_SIZE,33650,0
$CFSIZE,1024409600,991363072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,024317,6011.325,-17319.621,7,0.7,7,7.2,0.0,0.0,11,0.0