version: 66.12
glider: 401
mission: 20
dive: 105
start: 4 30 117 7 33 8
data:
$ID,401
$MISSION,20
$DIVE,105
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,3
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,110
$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,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2412
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$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,-51.144318
$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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,300417,071342,5714.1304,-16523.8926,6,0.8,14,10.9,0.0,0.0,12,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,5.4
$GPS2,300417,071342,5714.1304,-16523.8926,6,0.8,14,10.9,0.0,0.0,12,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.437,-16505.172
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136286,-0.339109
$KALMAN_X,-7557.788574,330.695007,245.365814,28539.750000,261.357300
$KALMAN_Y,9127.081055,774.436829,714.538940,-11444.329102,252.007751
$MHEAD_RNG_PITCHd_Wd,99.1,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-439.9,2346,2029,2369,4094,0.0,0.0,0,19,0.00,0.00,-1.38,0.000,16390,0.000,0.000,2346,2029,2698,2698,4094,0,0,0,0,0,0,26.16,24.66,26.12,10.05,35.43
$GC,21,-1.72,-439.9,2346,2029,2698,4094,0.0,0.0,0,35,5.40,0.00,0.00,0.000,4102,0.238,0.000,1869,2029,2698,2698,4094,0,0,0,0,0,0,25.85,25.92,25.91,10.13,35.11
$GC,98,-1.72,-439.9,1868,2029,2700,4094,16.1,-12.9,6,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2030,2700,2700,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,35.27
$GC,179,-1.72,-439.9,1868,2029,2701,4094,25.0,-10.3,12,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2030,2702,2702,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.12,35.43
$GC,259,-1.72,-439.9,1868,2030,2703,4095,34.2,-11.2,18,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2029,2703,2703,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.12,35.03
$GC,339,-1.72,-439.9,1868,2028,2705,4094,42.8,-11.1,24,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2028,2705,2705,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.11,35.54
$GC,425,-1.72,-439.9,1868,2028,2707,4094,52.3,-11.1,30,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2028,2707,2707,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.11,34.68
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,480,-0.45,0.0,1869,2028,2708,4094,58.3,-11.1,34,526,4.30,0.00,26.77,4.348,10246,0.214,0.000,2257,2028,2174,2174,4094,0,0,0,0,0,0,26.06,24.86,24.07,10.11,34.80
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,529,1.72,439.9,2257,2028,2174,4094,61.2,0.0,37,580,7.40,4.20,26.12,4.271,10756,0.132,0.271,2943,608,1661,1661,4094,0,0,0,0,0,0,25.46,24.41,23.65,10.01,34.44
$GC,595,1.72,439.9,2942,608,1661,4094,57.3,8.6,41,613,0.00,3.83,0.00,0.000,1030,0.000,0.139,2943,2022,1661,1661,4094,0,0,0,0,0,0,25.15,25.08,25.17,9.90,33.81
$GC,679,1.72,439.9,2942,2022,1659,4094,46.6,12.9,47,695,0.00,4.20,0.00,0.000,260,0.000,0.291,2943,3443,1659,1659,4094,0,0,0,0,0,0,25.67,25.25,25.67,9.90,33.81
$GC,723,1.72,439.9,2942,3443,1657,4094,40.1,14.5,50,737,0.00,3.80,0.00,0.000,1030,0.000,0.129,2943,2030,1657,1657,4094,0,0,0,0,0,0,25.51,25.44,25.54,9.90,34.44
$GC,801,1.72,439.9,2942,2030,1655,4094,29.3,13.4,56,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2030,1654,1654,4094,0,0,0,0,0,0,25.89,25.89,25.89,9.90,33.77
$GC,881,1.72,439.9,2942,2030,1653,4094,19.2,12.9,62,896,0.00,4.12,0.00,0.000,260,0.000,0.288,2943,3444,1652,1652,4094,0,0,1,0,0,0,25.98,25.54,25.99,9.91,34.95
$GC,923,1.72,439.9,2942,3444,1651,4094,13.0,14.2,65,942,0.00,3.75,0.00,0.000,1030,0.000,0.124,2943,2031,1650,1650,4094,0,0,0,0,0,0,25.77,25.71,25.79,9.91,35.03
$STATE,1006,end climb,SURFACE_DEPTH_REACHED
$STATE,1006,begin surface coast
$FINISH,0.4,1.025308
$STATE,1034,end surface coast,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$SM_CCo,1129,0.00,0.000,0,0,1648,452.48
$SM_GC,0.97,28.62,0.00,0.00,0.102,0.000,0.000,243,2027,1648,-6.77,0.09,452.48,0,0,0,0,0,0,25.81,26.13,25.89
$IRIDIUM_FIX,5744.64,-16600.79,300417,062227
$TT8_MAMPS,0.026964,0.260652
$HUMID,35.31
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,10.3
$24V_AH,23.65,12.522
$10V_AH,8.78,9.954
$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,45.725,23.900,52.900,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,258.228,59.910,130.445,712.224,21.352,33.408,383.027,0.000,724.779,0.000,5.454,0.000
$DEVICE_MAMPS,238.368,290.511,4347.733,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.809,93.635,156.999,410.583,701.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7360,73
$CAP_FILE_SIZE,20956,11
$CFSIZE,1024409600,1013350400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300417,075243,5714.173,-16522.469,4,0.8,14,10.9,0.6,63.4,11,4.3