version: 66.13
glider: 401
mission: 22
dive: 591
start: 8 6 117 11 59 22
data:
$ID,401
$MISSION,22
$DIVE,591
$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,25
$R_STBD_OVSHOOT,61
$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
$GPS1,060817,110843,6014.0098,-17321.3301,5,0.9,50,7.2,0.4,217.9,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-2.0
$GPS2,060817,110843,6014.0098,-17321.3301,5,0.9,50,7.2,0.4,217.9,8,3.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.180056,0.336534
$KALMAN_X,63871.250000,-1952.780151,-232.055038,-228168.593750,74.083054
$KALMAN_Y,42842.699219,1820.499390,474.774231,63571.671875,-191.277161
$MHEAD_RNG_PITCHd_Wd,324.7,24921,-7.9,-8.333,-12.32,10153
$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,-574.6,2395,1971,2370,4092,0.0,0.0,0,21,5.78,0.00,-4.55,0.000,20482,0.026,0.000,1834,1971,2880,2880,4094,0,0,0,0,0,0,26.15,28.83,26.16,10.31,51.22
$GC,24,-1.58,-574.6,1833,1971,2880,4094,0.1,0.0,1,33,0.00,0.00,-2.53,0.000,16390,0.000,0.000,1834,1971,3155,3155,4095,0,0,0,0,0,0,26.34,25.63,26.34,10.42,51.22
$GC,69,-1.58,-574.6,1833,1971,3155,4095,3.3,-10.8,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1971,3154,3154,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.48,51.29
$GC,115,-1.58,-574.6,1833,1971,3156,4095,8.6,-12.0,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1971,3156,3156,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.49,51.49
$GC,160,-1.58,-574.6,1833,1971,3157,4095,13.6,-11.1,19,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1971,3157,3157,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.46,50.43
$GC,204,-1.58,-574.6,1833,1971,3157,4094,19.0,-12.2,25,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1971,3158,3158,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.44,49.84
$GC,249,-1.58,-574.6,1833,1971,3158,4095,24.3,-11.8,31,259,0.00,1.00,0.00,0.000,260,0.000,0.044,1833,2347,3158,3158,4094,0,0,0,0,0,0,26.40,26.12,26.41,10.44,49.60
$GC,288,-1.58,-574.6,1833,2347,3159,4094,29.0,-11.9,36,298,0.00,1.00,0.00,0.000,1030,0.000,0.028,1833,1949,3160,3160,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.43,49.05
$GC,334,-1.58,-574.6,1833,1948,3160,4095,34.5,-12.1,42,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3161,3161,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,48.54
$GC,380,-1.58,-574.6,1833,1948,3161,4095,39.9,-11.9,48,389,0.00,1.10,0.00,0.000,516,0.000,0.050,1833,1514,3162,3162,4095,0,0,0,0,0,0,26.47,26.17,26.48,10.41,47.99
$GC,414,-1.58,-574.6,1833,1513,3162,4095,43.9,-11.8,52,423,0.00,0.93,0.00,0.000,1030,0.000,0.026,1833,1920,3162,3162,4094,0,0,0,0,0,0,26.32,26.24,26.31,10.40,47.40
$GC,460,-1.58,-574.6,1833,1919,3163,4094,49.4,-11.8,58,469,0.00,1.17,0.00,0.000,260,0.000,0.045,1833,2370,3163,3163,4095,0,0,0,0,0,0,26.51,26.22,26.51,10.39,47.75
$GC,525,-1.58,-574.6,1833,2370,3165,4095,56.8,-11.2,67,534,0.00,1.00,0.00,0.000,1030,0.000,0.027,1833,1971,3165,3165,4094,0,0,0,0,0,0,26.30,26.32,26.34,10.39,47.00
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,560,-0.45,0.0,1833,1971,3165,4095,60.5,-11.5,71,603,3.78,0.00,32.60,1.294,10244,0.053,0.000,2186,1970,2483,2483,4094,0,0,0,0,0,0,26.26,25.03,24.32,10.38,46.61
$STATE,604,end apogee,CONTROL_FINISHED_OK
$STATE,604,begin climb
$GC,607,1.58,574.6,2186,1970,2483,4094,62.9,0.0,76,651,6.93,0.00,32.72,1.268,11270,0.036,0.000,2830,1971,1813,1813,4094,0,0,0,0,0,0,25.53,25.68,23.85,10.24,46.10
$GC,689,1.58,574.6,2829,1970,1813,4094,57.5,9.5,86,699,0.00,1.10,0.00,0.000,260,0.000,0.040,2830,2369,1813,1813,4095,0,0,0,0,0,0,25.51,25.26,25.52,10.09,45.19
$GC,767,1.58,574.6,2829,2369,1811,4095,49.7,9.8,97,776,0.00,1.10,0.00,0.000,1030,0.000,0.030,2830,1946,1811,1811,4094,0,0,0,0,0,0,25.60,25.57,25.62,10.09,45.27
$GC,813,1.58,574.6,2829,1946,1810,4094,45.4,9.3,103,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1946,1810,1810,4095,0,0,0,0,0,0,25.91,25.93,25.92,10.08,45.43
$GC,858,1.58,574.6,2829,1946,1810,4095,41.2,9.4,109,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1946,1810,1810,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.08,45.98
$GC,904,1.58,574.6,2829,1946,1809,4095,37.1,9.1,115,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1946,1808,1808,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.07,46.77
$GC,948,1.58,574.6,2829,1946,1807,4094,32.9,8.9,121,958,0.00,1.12,0.00,0.000,260,0.000,0.041,2830,2368,1807,1807,4094,0,0,0,0,0,0,26.13,25.84,26.13,10.08,46.41
$GC,994,1.58,574.6,2829,2368,1807,4094,28.8,9.2,127,1003,0.00,1.02,0.00,0.000,1030,0.000,0.031,2830,1965,1806,1806,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.08,47.00
$GC,1039,1.58,574.6,2829,1964,1806,4094,24.7,8.9,133,1048,0.00,1.15,0.00,0.000,516,0.000,0.057,2830,1524,1806,1806,4094,0,0,0,0,0,0,26.22,25.90,26.23,10.09,47.12
$GC,1097,1.58,574.6,2829,1523,1804,4094,19.5,9.1,141,1106,0.00,1.00,0.00,0.000,1030,0.000,0.025,2830,1964,1804,1804,4094,0,0,0,0,0,0,26.09,26.06,26.09,10.09,47.48
$GC,1142,1.58,574.6,2829,1964,1803,4094,15.6,8.6,147,1152,0.00,1.02,0.00,0.000,260,0.000,0.042,2830,2356,1803,1803,4094,0,0,0,0,0,0,26.30,26.06,26.32,10.10,48.03
$GC,1220,1.58,574.6,2829,2356,1802,4094,8.8,8.7,158,1229,0.00,1.00,0.00,0.000,1030,0.000,0.031,2830,1959,1802,1802,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.11,48.30
$GC,1266,1.61,598.9,2829,1958,1801,4094,5.2,8.1,164,1276,0.00,1.10,2.62,0.200,8708,0.000,0.053,2830,1518,1782,1782,4094,0,0,0,0,0,0,26.39,25.84,25.39,10.13,49.05
$STATE,1303,end climb,SURFACE_DEPTH_REACHED
$STATE,1303,begin surface coast
$FINISH,0.3,1.024155
$STATE,1324,end surface coast,CONTROL_FINISHED_OK
$STATE,1324,begin surface
$SM_CCo,1422,0.00,0.000,0,0,1781,604.45
$SM_GC,1.11,27.02,1.02,0.00,0.021,0.026,0.000,238,1947,1781,-6.55,-2.19,604.45,0,0,0,0,0,0,26.18,26.20,26.22
$IRIDIUM_FIX,5952.82,-17420.78,060817,093838
$TT8_MAMPS,0.024717,0.205226
$HUMID,51.02
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.85,15.654
$10V_AH,10.23,19.231
$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,43.500,16.850,67.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.993,59.972,167.836,721.945,58.888,33.414,451.017,0.000,258.762,0.000,0.544,0.000
$DEVICE_MAMPS,52.785,56.610,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.811,467.405,0.000,547.831,715.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330884
$DATA_FILE_SIZE,14339,172
$CAP_FILE_SIZE,35268,0
$CFSIZE,1024409600,990445568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,122410,6014.561,-17322.020,8,1.0,31,7.2,0.3,164.8,9,5.0