version: 66.13
glider: 401
mission: 22
dive: 519
start: 8 5 117 2 28 25
data:
$ID,401
$MISSION,22
$DIVE,519
$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,39
$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
$GPS1,050817,013845,6005.0205,-17301.0469,8,0.8,14,7.4,0.0,4.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,1.7
$GPS2,050817,013845,6005.0205,-17301.0469,8,0.8,14,7.4,0.0,4.8,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.368392,-0.107845
$KALMAN_X,56266.535156,-3455.160156,-1311.393433,-198783.484375,133.104370
$KALMAN_Y,43506.140625,1362.310059,744.613647,46442.718750,200.270752
$MHEAD_RNG_PITCHd_Wd,246.3,16703,-7.8,-8.333,-12.25,10298
$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,7,-1.58,-583.1,2393,1947,2377,4092,0.0,0.0,0,19,5.62,0.00,-3.60,0.000,20482,0.025,0.000,1847,1947,2757,2757,4095,0,0,0,0,0,0,26.05,28.83,26.08,10.26,51.29
$GC,22,-1.58,-583.1,1847,1947,2757,4095,0.1,0.0,1,32,0.00,1.12,-3.97,0.000,16644,0.000,1.277,1847,2363,3168,3168,4095,0,0,0,0,0,0,26.25,24.87,26.25,10.35,51.61
$GC,134,-1.58,-583.1,1846,2363,3170,4095,11.4,-12.7,17,144,0.00,1.05,0.00,0.000,1030,0.000,0.028,1846,1951,3170,3170,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.44,50.66
$GC,180,-1.58,-583.1,1845,1950,3171,4095,16.9,-11.8,23,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1951,3171,3171,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.43,50.59
$GC,224,-1.58,-583.1,1846,1950,3171,4095,21.3,-9.6,29,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1951,3172,3172,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.40,49.92
$GC,268,-1.58,-583.1,1846,1950,3172,4094,25.6,-9.7,35,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1951,3173,3173,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.38,49.60
$GC,315,-1.58,-583.1,1846,1950,3173,4094,30.1,-10.2,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1951,3173,3173,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,48.54
$GC,359,-1.58,-583.1,1846,1950,3174,4095,34.9,-10.6,47,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3174,3174,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.37,47.71
$GC,403,-1.58,-583.1,1846,1950,3175,4095,39.3,-9.9,53,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1951,3175,3175,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,47.71
$GC,448,-1.58,-583.1,1846,1950,3175,4095,44.1,-10.4,59,457,0.00,1.10,0.00,0.000,516,0.000,0.054,1847,1518,3176,3176,4094,0,0,0,0,0,0,26.44,26.15,26.46,10.36,47.04
$GC,506,-1.58,-583.1,1845,1517,3177,4094,50.1,-11.0,67,515,0.00,1.00,0.00,0.000,1030,0.000,0.027,1847,1951,3177,3177,4094,0,0,0,0,0,0,26.27,26.25,26.28,10.35,47.20
$GC,551,-1.58,-583.1,1846,1950,3178,4094,54.8,-9.9,73,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3178,3178,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.35,47.28
$GC,596,-1.58,-583.1,1846,1950,3178,4094,59.5,-10.4,79,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1951,3178,3178,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.34,46.73
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,618,-0.45,0.0,1846,1950,3179,4095,61.3,-10.4,81,661,3.60,0.00,33.40,1.320,10244,0.054,0.000,2180,1953,2483,2483,4094,0,0,0,0,0,0,26.23,25.21,24.25,10.34,46.14
$STATE,662,end apogee,CONTROL_FINISHED_OK
$STATE,662,begin climb
$GC,664,1.58,583.1,2179,1953,2483,4094,63.7,0.0,86,709,7.05,0.00,33.20,1.297,11270,0.036,0.000,2832,1954,1803,1803,4094,0,0,0,0,0,0,25.46,25.61,23.75,10.19,45.62
$GC,746,1.58,583.1,2831,1954,1803,4094,58.3,9.4,96,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1802,1802,4094,0,0,0,0,0,0,25.43,25.44,25.44,10.04,45.07
$GC,791,1.58,583.1,2831,1954,1802,4094,53.8,8.9,102,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1802,1802,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.04,44.95
$GC,836,1.58,583.1,2831,1954,1801,4094,49.2,10.1,108,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1801,1801,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.04,45.43
$GC,879,1.58,583.1,2831,1954,1800,4094,45.0,9.7,114,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1800,1800,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.03,45.98
$GC,925,1.58,583.1,2831,1954,1799,4094,40.6,9.8,120,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1799,1799,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.03,46.29
$GC,970,1.58,583.1,2831,1954,1798,4094,35.8,10.6,126,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1798,1798,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.03,45.70
$GC,1015,1.58,583.1,2831,1954,1796,4094,31.3,10.2,132,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1797,1797,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.03,46.37
$GC,1060,1.58,583.1,2831,1954,1796,4094,26.9,9.6,138,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1795,1795,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.02,46.22
$GC,1106,1.58,583.1,2831,1954,1795,4094,22.7,9.5,144,1114,0.00,1.08,0.00,0.000,260,0.000,0.042,2832,2362,1795,1795,4095,0,0,0,0,0,0,26.17,25.89,26.18,10.02,46.81
$GC,1171,1.58,583.1,2831,2362,1794,4095,16.2,9.6,153,1181,0.00,1.05,0.00,0.000,1030,0.000,0.031,2832,1952,1793,1793,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.04,47.12
$GC,1217,1.58,583.1,2831,1951,1792,4094,12.1,8.9,159,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1952,1792,1792,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.07,47.79
$GC,1261,1.65,632.1,2831,1952,1791,4094,8.4,7.8,165,1272,0.12,0.00,3.78,0.398,10246,0.062,0.000,2855,1952,1746,1746,4094,0,0,0,0,0,0,26.10,25.71,25.27,10.09,49.09
$GC,1310,1.70,664.5,2854,1951,1744,4094,4.8,8.0,171,1319,0.00,0.00,3.45,0.339,8198,0.000,0.000,2855,1952,1707,1707,4095,0,0,0,0,0,0,26.29,25.72,25.29,10.10,50.03
$STATE,1346,end climb,SURFACE_DEPTH_REACHED
$STATE,1346,begin surface coast
$FINISH,0.1,1.011929
$STATE,1374,end surface coast,CONTROL_FINISHED_OK
$STATE,1374,begin surface
$SM_CCo,1471,0.00,0.000,0,0,1706,668.85
$SM_GC,0.85,27.55,0.00,0.00,0.022,0.000,0.000,230,1952,1706,-6.59,0.09,668.85,0,0,0,0,0,0,25.99,26.32,26.09
$IRIDIUM_FIX,5925.93,-17425.36,050817,000930
$TT8_MAMPS,0.025466,0.210469
$HUMID,50.59
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,23.75,13.338
$10V_AH,10.19,16.685
$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,43.950,6.400,73.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,479.609,60.483,171.659,755.070,55.966,33.413,463.615,0.000,270.203,0.000,0.540,0.000
$DEVICE_MAMPS,61.965,1276.785,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.713,489.016,0.000,573.363,746.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,17750,180
$CAP_FILE_SIZE,34548,0
$CFSIZE,1024409600,993968128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,025340,6005.359,-17302.057,4,0.9,18,7.4,0.5,25.4,9,4.9