version: 66.13
glider: 401
mission: 22
dive: 431
start: 8 3 117 9 24 27
data:
$ID,401
$MISSION,22
$DIVE,431
$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,500
$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,25
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$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
$GPS1,030817,085840,5959.3389,-17215.7090,6,1.0,52,7.8,0.6,223.8,8,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-1.2
$GPS2,030817,085840,5959.3389,-17215.7090,6,1.0,52,7.8,0.6,223.8,8,3.0
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.358382,0.000233
$KALMAN_X,53520.339844,-2138.698730,-484.249695,-155260.296875,-83.879150
$KALMAN_Y,32812.902344,1304.278198,170.593155,47243.699219,-26.941986
$MHEAD_RNG_PITCHd_Wd,262.2,26947,-8.8,-8.333,-13.09,8689
$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,-1.53,-487.5,2400,1894,2363,4092,0.0,0.0,0,20,5.68,0.00,-4.65,0.000,20482,0.025,0.000,1851,1894,2872,2872,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.33,50.94
$GC,22,-1.53,-487.5,1850,1894,2872,4095,0.1,0.0,1,32,0.00,0.00,-1.50,0.000,16390,0.000,0.000,1851,1895,3049,3049,4094,0,0,0,0,0,0,26.28,25.58,26.26,10.43,50.39
$GC,68,-1.53,-487.5,1850,1894,3050,4094,4.6,-11.9,7,77,0.00,1.50,-0.05,0.000,16644,0.000,1.248,1851,2426,3064,3064,4095,0,0,0,0,0,0,26.19,24.85,25.29,10.47,50.86
$GC,119,-1.53,-487.5,1851,2426,3065,4095,11.5,-13.8,14,128,0.00,1.35,0.00,0.000,1030,0.000,0.030,1851,1900,3065,3065,4094,0,0,0,0,0,0,25.91,25.84,25.90,10.48,49.88
$GC,165,-1.53,-487.5,1851,1900,3066,4094,16.9,-11.8,20,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1900,3066,3066,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.47,50.35
$GC,210,-1.53,-487.5,1850,1900,3067,4095,21.7,-10.1,26,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1900,3067,3067,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.45,49.52
$GC,254,-1.53,-487.5,1851,1899,3067,4095,25.8,-9.2,32,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1900,3067,3067,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.42,48.81
$GC,298,-1.53,-487.5,1851,1900,3068,4094,29.9,-9.4,38,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1900,3068,3068,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.40,48.03
$GC,342,-1.53,-487.5,1850,1900,3069,4095,34.2,-9.9,44,351,0.00,1.40,0.00,0.000,260,0.000,0.044,1851,2424,3069,3069,4094,0,0,0,0,0,0,26.32,26.05,26.34,10.38,46.92
$GC,413,-1.53,-487.5,1850,2424,3070,4094,41.6,-10.7,54,422,0.00,1.33,0.00,0.000,1030,0.000,0.029,1851,1902,3070,3070,4095,0,0,0,0,0,0,26.16,26.12,26.17,10.38,46.18
$GC,460,-1.53,-487.5,1850,1902,3071,4095,46.4,-10.7,60,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1902,3071,3071,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.37,45.98
$GC,504,-1.53,-487.5,1850,1902,3072,4094,51.3,-10.8,66,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1902,3073,3073,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,45.39
$GC,549,-1.53,-487.5,1850,1902,3072,4095,55.8,-10.0,72,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1902,3073,3073,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,45.39
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,596,-0.45,0.0,1851,2037,3074,4095,60.4,-10.4,78,632,3.62,0.00,28.48,1.282,10244,0.055,0.000,2184,2037,2483,2483,4094,0,0,0,0,0,0,26.19,25.32,24.40,10.36,45.51
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,635,1.53,487.5,2184,2036,2484,4094,62.6,0.0,82,680,6.82,0.00,27.75,1.259,11270,0.037,0.000,2814,2037,1920,1920,4094,0,0,0,0,0,0,25.54,25.71,23.92,10.23,44.76
$GC,717,1.53,487.5,2814,2036,1919,4094,57.2,9.8,92,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1919,1919,4094,0,0,0,0,0,0,25.56,25.57,25.56,10.10,43.89
$GC,762,1.53,487.5,2814,2036,1918,4094,52.6,10.0,98,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1918,1918,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.09,44.80
$GC,806,1.53,487.5,2814,2036,1917,4094,48.1,10.2,104,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1917,1917,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.08,44.29
$GC,851,1.53,487.5,2814,2036,1916,4094,43.6,9.7,110,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1916,1916,4094,0,0,0,0,0,0,25.96,25.96,25.96,10.09,44.52
$GC,895,1.53,487.5,2814,2036,1915,4094,39.2,9.7,116,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1915,1915,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.09,44.88
$GC,939,1.53,487.5,2813,2036,1914,4094,34.9,9.6,122,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1914,1914,4093,0,0,0,0,0,0,26.09,26.10,26.10,10.08,45.31
$GC,983,1.53,487.5,2813,2036,1914,4093,30.7,9.8,128,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1913,1913,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.08,44.99
$GC,1027,1.53,487.5,2813,2036,1913,4094,26.5,9.4,134,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1913,1913,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.07,45.66
$GC,1072,1.53,487.5,2813,2036,1911,4094,22.4,8.9,140,1081,0.00,1.50,0.00,0.000,516,0.000,0.054,2814,1478,1911,1911,4094,0,0,0,0,0,0,26.24,25.93,26.25,10.07,45.51
$GC,1130,1.53,487.5,2813,1477,1911,4094,17.0,9.0,148,1140,0.00,1.25,0.00,0.000,1030,0.000,0.026,2814,1998,1910,1910,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.11,46.33
$GC,1177,1.53,487.6,2813,1998,1910,4094,13.2,8.3,154,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1998,1909,1909,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.14,48.70
$GC,1222,1.56,508.2,2814,1998,1908,4095,9.4,8.1,160,1232,0.00,0.00,2.65,0.220,8198,0.000,0.000,2814,1998,1891,1891,4095,0,0,0,0,0,0,26.35,25.79,25.36,10.16,49.25
$GC,1269,1.71,605.3,2813,1998,1890,4095,6.1,7.2,166,1279,0.45,0.00,6.60,0.541,10246,0.037,0.000,2869,1998,1777,1777,4094,0,0,0,0,0,0,26.16,25.93,25.35,10.16,49.76
$GC,1316,1.71,605.3,2869,1998,1776,4094,2.3,8.4,172,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1999,1776,1776,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.16,50.35
$STATE,1333,end climb,FINISH_DEPTH_REACHED
$STATE,1333,begin subsurface finish
$FINISH1,0.6,1.024030,109
$GC,1339,0.16,109.4,2869,2001,1776,4094,0.6,8.4,174,1357,4.93,0.00,-5.18,0.000,20486,0.028,0.000,2394,2002,2361,2361,4094,0,0,0,0,0,0,26.11,25.63,26.16,10.16,50.35
$FINISH2,0.2
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,085113
$TT8_MAMPS,0.026215,0.204477
$HUMID,50.70
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.92,10.538
$10V_AH,10.25,13.556
$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,21.500,8.875,65.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,479.130,0.000,151.754,738.379,48.392,33.422,449.655,0.000,264.474,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1248.480,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.566,478.181,0.000,560.759,730.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330900
$DATA_FILE_SIZE,14401,176
$CAP_FILE_SIZE,34814,0
$CFSIZE,1024409600,998309888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,085840,5959.339,-17215.709,6,1.0,52,7.8,0.6,223.8,8,3.0