version: 66.12
glider: 401
mission: 20
dive: 146
start: 4 30 117 23 17 59
data:
$ID,401
$MISSION,20
$DIVE,146
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,300417,231203,5711.9106,-16507.6250,3,0.9,31,11.0,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-38.5
$GPS2,300417,231658,5711.8809,-16507.6719,4,0.9,16,11.0,0.5,74.6,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.188,-16448.971
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.357318,0.075734
$KALMAN_X,-6500.880371,1814.268433,732.402405,41757.855469,-156.384216
$KALMAN_Y,11561.206055,511.533905,344.673828,-17398.996094,-190.440613
$MHEAD_RNG_PITCHd_Wd,99.0,20000,-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,-439.9,231,2015,1647,4094,0.0,0.0,0,37,0.00,0.00,-9.80,0.000,16390,0.000,0.000,232,2015,2691,2691,4095,0,0,0,0,0,0,26.03,25.19,26.04,9.91,35.90
$GC,39,-1.72,-439.9,232,2015,2690,4094,0.8,0.0,1,73,20.50,3.95,0.00,0.000,2564,0.410,0.236,1849,614,2694,2694,4094,0,0,0,0,0,0,25.40,25.36,25.48,10.12,35.66
$GC,101,-1.72,-439.9,1849,613,2695,4094,20.9,-31.9,5,119,0.00,3.75,0.00,0.000,1030,0.000,0.139,1850,2020,2695,2695,4094,0,0,0,0,0,0,25.60,25.54,25.63,10.13,36.37
$GC,185,-1.72,-439.9,1849,2020,2697,4094,32.0,-12.7,11,201,0.00,4.18,0.00,0.000,260,0.000,0.308,1850,3438,2697,2697,4095,0,0,1,0,0,0,25.98,25.51,25.98,10.12,35.31
$GC,229,-1.72,-439.9,1849,3438,2698,4094,37.3,-12.2,14,248,0.00,3.70,0.00,0.000,1030,0.000,0.132,1850,2045,2698,2698,4094,0,0,0,0,0,0,25.77,25.72,25.79,10.11,35.66
$GC,313,-1.72,-439.9,1849,2046,2700,4094,47.6,-12.2,20,329,0.00,4.05,0.00,0.000,516,0.000,0.261,1850,611,2700,2700,4095,0,0,0,0,0,0,26.10,25.65,26.10,10.12,34.64
$GC,362,-1.72,-439.9,1849,611,2700,4095,53.8,-12.9,23,376,0.00,3.72,0.00,0.000,1030,0.000,0.144,1850,2024,2701,2701,4094,0,0,0,0,0,0,25.86,25.79,25.89,10.12,35.15
$STATE,403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,403,begin apogee
$GC,407,-0.45,0.0,1849,2024,2702,4094,59.3,-13.2,26,444,4.55,0.00,26.42,4.387,10244,0.219,0.000,2256,2024,2173,2173,4094,0,0,0,0,0,0,25.84,24.97,23.85,10.12,34.60
$STATE,445,end apogee,CONTROL_FINISHED_OK
$STATE,445,begin climb
$GC,447,1.72,439.9,2255,2024,2174,4094,62.2,0.0,28,484,7.50,0.00,26.10,4.313,11270,0.129,0.000,2941,2024,1661,1661,4094,0,0,0,0,0,0,25.25,25.44,23.49,10.00,34.80
$GC,548,1.72,439.9,2941,2024,1659,4094,53.9,12.6,35,562,0.00,4.10,0.00,0.000,516,0.000,0.263,2941,618,1659,1659,4094,0,0,1,0,0,0,25.44,25.05,25.45,9.91,34.56
$GC,591,1.72,439.9,2941,617,1658,4094,47.9,13.8,38,609,0.00,3.72,0.00,0.000,1030,0.000,0.132,2942,2007,1658,1658,4094,0,0,0,0,0,0,25.33,25.28,25.38,9.90,33.97
$GC,675,1.72,439.9,2941,2007,1656,4094,37.0,12.8,44,691,0.00,4.22,0.00,0.000,260,0.000,0.286,2942,3443,1656,1656,4094,0,0,0,0,0,0,25.75,25.32,25.76,9.90,33.97
$GC,719,1.72,439.9,2941,3443,1655,4094,30.8,13.8,47,737,0.00,3.85,0.00,0.000,1030,0.000,0.127,2942,2006,1654,1654,4094,0,0,0,0,0,0,25.56,25.51,25.59,9.90,34.09
$GC,803,1.72,439.9,2941,2006,1653,4094,20.1,12.3,53,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2005,1652,1652,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.90,34.68
$GC,881,1.72,439.9,2941,2006,1650,4094,9.7,13.4,59,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2006,1649,1649,4094,0,0,0,0,0,0,26.01,26.02,26.02,9.92,34.68
$STATE,937,end climb,FINISH_DEPTH_REACHED
$STATE,937,begin subsurface finish
$FINISH1,2.5,1.025279,-160
$GC,941,-0.26,-159.5,2942,2005,1649,4094,2.5,12.8,63,961,6.45,0.00,-6.88,0.000,20486,0.171,0.000,2347,2001,2364,2364,4094,0,0,0,0,0,0,25.82,24.65,25.84,9.91,35.03
$FINISH2,-0.1
$STATE,962,end subsurface finish,CONTROL_FINISHED_OK
$STATE,962,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,222641
$TT8_MAMPS,0.026215,0.24717
$HUMID,35.58
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,8.9
$24V_AH,23.49,15.639
$10V_AH,8.79,11.142
$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,39.000,39.250,52.525,0.000,0.000,20.852,19.626,166.314,0.500,0.000,17.792,242.805,0.000,114.993,877.117,45.706,33.433,380.197,0.000,655.218,0.000,7.324,0.000
$DEVICE_MAMPS,409.695,307.892,4387.461,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.319,81.950,137.592,377.597,631.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,3963,64
$CAP_FILE_SIZE,26334,16
$CFSIZE,1024409600,1011335168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300417,231658,5711.881,-16507.672,4,0.9,16,11.0,0.5,74.6,10,4.7