version: 66.12
glider: 401
mission: 20
dive: 365
start: 5 4 117 7 18 33
data:
$ID,401
$MISSION,20
$DIVE,365
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,4
$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,500
$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,100
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,9
$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,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$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,2
$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
$GPS1,040517,070118,5650.1187,-16449.9375,5,0.7,22,11.1,0.0,0.0,12,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.2
$GPS2,040517,070118,5650.1187,-16449.9375,5,0.7,22,11.1,0.0,0.0,12,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.244,-16430.514
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.376930,-0.057607
$KALMAN_X,-13291.727539,-359.953949,-608.239075,69837.539062,-241.727722
$KALMAN_Y,27937.513672,-945.399292,-500.548828,-71786.453125,31.557007
$MHEAD_RNG_PITCHd_Wd,88.9,20000,-10.5,-9.667,-14.22,7537
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.95,-488.8,2322,2188,2359,4094,0.0,0.0,0,33,0.00,0.00,-3.70,0.000,16390,0.000,0.000,2322,2182,2749,2749,4095,0,0,0,0,0,0,26.11,25.22,26.11,10.09,36.02
$GC,35,-1.95,-488.8,2322,2182,2749,4094,0.3,0.0,1,54,6.18,2.05,0.00,0.000,4612,0.201,0.156,1774,1420,2749,2749,4095,0,0,0,0,0,0,25.58,25.47,25.60,10.17,35.86
$GC,188,-1.95,-488.8,1773,1420,2752,4094,19.4,-15.4,13,207,0.00,1.88,0.00,0.000,1030,0.000,0.117,1774,2148,2752,2752,4094,0,0,0,0,0,0,25.77,25.74,25.82,10.17,35.66
$GC,270,-1.95,-488.8,1774,2148,2754,4094,31.7,-14.7,19,288,0.00,1.98,0.00,0.000,516,0.000,0.166,1774,1413,2755,2755,4094,0,0,0,0,0,0,26.13,25.76,26.15,10.16,35.90
$GC,329,-1.95,-488.8,1774,1412,2755,4095,39.7,-13.7,23,347,0.00,1.88,0.00,0.000,1030,0.000,0.119,1774,2144,2756,2756,4094,0,0,0,0,0,0,25.90,25.87,25.94,10.17,35.66
$GC,415,-1.95,-488.8,1774,2144,2758,4094,51.1,-13.5,29,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2144,2758,2758,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.17,36.41
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,476,-0.56,0.0,1774,2041,2759,4094,59.2,-13.4,33,524,4.62,0.08,28.95,4.417,10244,0.216,0.226,2188,2093,2175,2175,4094,0,0,0,0,0,0,25.92,24.66,23.84,10.18,35.78
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,525,begin climb
$GC,527,1.95,488.8,2187,2092,2175,4094,63.0,0.0,36,578,8.62,2.05,28.50,4.315,10500,0.119,0.216,2986,2819,1610,1610,4094,0,0,0,0,0,0,25.27,25.20,23.51,10.05,35.58
$GC,594,1.95,488.8,2985,2819,1610,4094,58.2,10.4,40,613,0.00,1.90,1.30,0.012,9222,0.000,0.102,2986,2096,1609,1609,4094,0,0,0,0,0,0,25.10,25.06,25.12,9.94,34.95
$GC,676,1.95,488.8,2985,2096,1607,4094,45.2,15.5,46,691,0.00,2.10,0.00,0.000,516,0.000,0.199,2986,1329,1606,1606,4094,0,0,0,0,0,0,25.62,25.25,25.63,9.94,34.83
$GC,720,1.95,488.8,2985,1329,1605,4094,37.8,16.9,49,734,0.00,1.88,0.00,0.000,1030,0.000,0.109,2986,2055,1605,1605,4094,0,0,0,0,0,0,25.46,25.43,25.49,9.93,34.91
$GC,798,1.95,488.8,2986,2055,1602,4094,25.0,16.6,55,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2055,1602,1602,4094,0,0,0,0,0,0,25.85,25.86,25.86,9.94,34.83
$GC,874,1.95,488.8,2986,2055,1600,4094,13.8,14.3,61,889,0.00,2.00,0.00,0.000,516,0.000,0.196,2986,1328,1599,1599,4094,0,0,0,0,0,0,25.95,25.58,25.96,9.93,35.39
$GC,916,1.95,488.8,2986,1328,1599,4094,7.7,14.4,64,931,0.00,1.88,0.00,0.000,1030,0.000,0.119,2986,2053,1598,1598,4094,0,0,0,0,0,0,25.72,25.67,25.76,9.93,35.82
$STATE,958,end climb,SURFACE_DEPTH_REACHED
$STATE,958,begin surface coast
$FINISH,0.1,1.013747
$STATE,986,end surface coast,CONTROL_FINISHED_OK
$STATE,986,begin surface
$SM_CCo,1084,0.00,0.000,0,0,1597,496.27
$SM_GC,1.03,29.35,0.25,0.00,0.084,0.166,0.000,231,2183,1597,-6.71,-1.14,496.27,0,0,1,0,0,0,25.51,25.82,25.73
$IRIDIUM_FIX,5554.28,-16557.83,040517,061641
$TT8_MAMPS,0.026215,0.259154
$HUMID,35.31
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,12.5
$24V_AH,23.51,35.799
$10V_AH,8.49,17.100
$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,48.775,20.350,58.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,256.278,60.127,129.368,663.375,30.985,33.416,375.559,0.000,675.599,0.000,5.459,0.000
$DEVICE_MAMPS,216.021,225.953,4417.257,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.685,88.399,148.387,378.704,651.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7354,69
$CAP_FILE_SIZE,21923,9
$CFSIZE,1024409600,1000570880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,073737,5650.229,-16449.783,2,0.8,26,11.1,0.0,0.0,11,5.0