version: 66.13
glider: 401
mission: 22
dive: 318
start: 8 1 117 7 25 59
data:
$ID,401
$MISSION,22
$DIVE,318
$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,22
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,2360
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$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
$GPS1,010817,064021,5950.3687,-17137.2227,6,0.7,14,8.1,0.0,232.9,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.5
$GPS2,010817,064021,5950.3687,-17137.2227,6,0.7,14,8.1,0.0,232.9,12,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.321958,0.108100
$KALMAN_X,41209.550781,-1778.046997,-405.458557,-106946.929688,85.573059
$KALMAN_Y,18931.380859,1565.912476,292.988647,44131.246094,-60.977722
$MHEAD_RNG_PITCHd_Wd,280.5,64447,-11.3,-9.091,-14.99,6428
$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,-1.61,-390.0,2414,1886,2383,4092,0.0,0.0,0,21,5.88,0.00,-4.80,0.000,20482,0.028,0.000,1846,1886,2910,2910,4095,0,0,0,0,0,0,26.20,28.83,26.22,10.31,50.39
$GC,23,-1.61,-390.0,1846,1886,2909,4095,0.1,0.0,1,33,0.00,2.40,-0.43,0.000,16900,0.000,1.308,1846,1045,2958,2958,4094,0,0,0,0,0,0,26.39,25.04,26.30,10.42,51.18
$GC,173,-1.61,-390.0,1845,1045,2961,4094,14.5,-14.4,23,182,0.00,2.15,0.00,0.000,1030,0.000,0.031,1846,1904,2962,2962,4095,0,0,0,0,0,0,26.13,26.06,26.15,10.45,49.88
$GC,218,-1.61,-390.0,1846,1905,2962,4095,20.0,-11.2,29,228,0.00,2.30,0.00,0.000,260,0.000,0.057,1846,2758,2962,2962,4095,0,0,0,0,0,0,26.37,26.06,26.39,10.44,49.80
$GC,259,-1.61,-390.0,1846,2757,2963,4095,24.0,-10.1,34,268,0.00,2.12,0.00,0.000,1030,0.000,0.031,1846,1926,2964,2964,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.42,49.44
$GC,305,-1.61,-390.0,1846,1926,2964,4094,28.6,-9.8,40,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2964,2964,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.38,48.62
$GC,351,-1.61,-390.0,1846,1926,2965,4095,33.2,-10.0,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2964,2964,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.37,47.36
$GC,397,-1.61,-390.0,1846,1926,2965,4094,37.9,-10.5,52,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2966,2966,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,46.69
$GC,443,-1.61,-390.0,1846,1926,2967,4095,42.7,-10.5,58,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2967,2967,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.35,46.45
$GC,488,-1.61,-390.0,1846,1926,2967,4095,47.5,-10.5,64,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2968,2968,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.34,45.90
$GC,534,-1.61,-390.0,1846,1926,2969,4095,52.3,-10.1,70,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2969,2969,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.34,45.39
$GC,577,-1.61,-390.0,1846,1926,2969,4094,57.2,-10.8,76,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1926,2969,2969,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.33,45.23
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,607,begin apogee
$GC,612,-0.45,0.0,1846,2040,2970,4095,60.4,-10.3,80,648,3.92,0.00,22.98,1.270,10244,0.060,0.000,2205,2040,2500,2500,4094,0,0,0,0,0,0,26.27,25.31,24.65,10.33,45.23
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,651,1.61,390.0,2205,2039,2500,4094,62.6,0.0,84,687,6.97,0.00,22.73,1.251,11270,0.036,0.000,2863,2040,2044,2044,4094,0,0,0,0,0,0,25.76,25.93,24.17,10.23,44.92
$GC,724,1.61,390.0,2862,2039,2043,4094,57.7,10.4,93,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2043,2043,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.12,44.01
$GC,770,1.61,390.0,2862,2039,2042,4094,52.5,11.7,99,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2042,2042,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.11,44.32
$GC,816,1.61,390.0,2862,2040,2041,4094,47.0,12.2,105,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.12,44.29
$GC,861,1.61,390.0,2862,2040,2040,4094,41.6,11.7,111,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2039,2039,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.11,44.95
$GC,907,1.61,390.0,2862,2040,2038,4095,36.0,12.2,117,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2038,2038,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.10,44.88
$GC,953,1.61,390.0,2862,2040,2037,4094,30.4,11.9,123,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2037,2037,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.10,44.95
$GC,999,1.61,390.0,2862,2039,2035,4095,25.1,11.1,129,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2036,2036,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.10,45.19
$GC,1044,1.61,390.0,2862,2039,2035,4094,20.1,10.9,135,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2034,2034,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.12,46.25
$GC,1090,1.61,390.0,2862,2040,2034,4094,15.1,10.5,141,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.15,46.53
$GC,1136,1.61,390.0,2863,2040,2033,4094,10.6,9.8,147,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2039,2032,2032,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.17,48.26
$GC,1182,1.66,422.2,2862,2039,2031,4094,6.6,8.6,153,1190,0.00,0.00,2.97,0.277,8198,0.000,0.000,2863,2040,2005,2005,4094,0,0,0,0,0,0,26.34,25.79,25.38,10.20,48.93
$GC,1228,1.67,426.1,2862,2041,2005,4094,2.5,9.0,159,1237,0.00,2.42,0.00,0.000,516,0.000,0.069,2863,1154,2004,2004,4094,0,0,0,0,0,0,26.35,26.01,26.36,10.20,49.40
$STATE,1245,end climb,SURFACE_DEPTH_REACHED
$STATE,1245,begin surface coast
$FINISH,0.2,1.013307
$STATE,1266,end surface coast,CONTROL_FINISHED_OK
$STATE,1266,begin surface
$SM_CCo,1364,0.00,0.000,0,0,2003,427.58
$SM_GC,1.00,27.65,1.83,0.00,0.024,0.030,0.000,231,1885,2003,-6.65,-2.60,427.58,0,0,0,0,0,0,26.06,26.15,26.15
$IRIDIUM_FIX,5955.74,-17228.01,010817,051847
$TT8_MAMPS,0.025466,0.248668
$HUMID,50.31
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.17,7.708
$10V_AH,10.23,9.756
$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,44.425,13.700,48.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.747,60.903,157.282,686.185,47.035,33.418,424.580,0.000,396.624,0.000,0.542,0.000
$DEVICE_MAMPS,60.435,1308.150,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.295,445.488,352.663,522.922,682.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,14318,164
$CAP_FILE_SIZE,32405,0
$CFSIZE,1024409600,1003880448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,074930,5950.698,-17138.578,5,0.9,13,8.1,0.4,20.5,10,5.0