version: 66.12
glider: 401
mission: 20
dive: 377
start: 5 4 117 11 26 47
data:
$ID,401
$MISSION,20
$DIVE,377
$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,22
$R_STBD_OVSHOOT,17
$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
$GPS1,040517,110929,5651.4473,-16446.0312,5,0.9,16,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.5
$GPS2,040517,110929,5651.4473,-16446.0312,5,0.9,16,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.572,-16426.596
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.219736,-0.311634
$KALMAN_X,-13836.459961,-124.270920,229.577698,73229.789062,234.950394
$KALMAN_Y,31537.265625,223.812363,635.893677,-75232.515625,285.058533
$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,13,begin dive
$GC,16,-1.95,-488.8,2306,2169,2356,4094,0.0,0.0,0,36,0.00,0.00,-3.70,0.000,16390,0.000,0.000,2306,2168,2750,2750,4094,0,0,0,0,0,0,25.98,25.11,25.98,10.09,35.62
$GC,39,-1.95,-488.8,2306,2169,2749,4094,0.3,0.0,1,54,5.75,2.08,0.00,0.000,4612,0.107,0.176,1776,1413,2750,2750,4094,0,0,0,0,0,0,25.39,25.28,25.41,10.18,36.10
$GC,245,-1.95,-488.8,1775,1413,2755,4094,29.3,-15.5,18,260,0.00,1.95,0.00,0.000,1030,0.000,0.122,1776,2165,2755,2755,4094,0,0,0,0,0,0,25.77,25.70,25.77,10.17,36.45
$GC,322,-1.95,-488.8,1775,2165,2757,4095,39.8,-13.0,24,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2164,2757,2757,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.17,35.70
$GC,406,-1.95,-488.8,1775,2165,2759,4095,51.0,-13.6,30,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2165,2759,2759,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.18,36.06
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,464,-0.56,0.0,1775,2047,2760,4095,59.1,-14.4,34,516,4.68,0.08,29.12,4.440,10244,0.214,0.216,2192,2100,2174,2174,4094,0,0,0,0,0,0,25.86,24.60,23.78,10.17,35.70
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,519,1.95,488.8,2192,2101,2174,4095,63.4,0.0,37,566,8.57,2.00,28.98,4.358,10500,0.112,0.211,2987,2811,1602,1602,4094,0,0,0,0,0,0,25.22,25.17,23.46,10.05,35.35
$GC,606,1.95,488.8,2986,2811,1601,4094,57.0,12.5,43,624,0.00,1.88,0.00,0.000,1030,0.000,0.097,2987,2103,1601,1601,4095,0,0,0,0,0,0,25.14,25.14,25.16,9.94,35.11
$GC,688,1.95,488.8,2986,2101,1599,4094,44.8,14.7,49,703,0.00,2.15,0.00,0.000,516,0.000,0.196,2987,1322,1598,1598,4094,0,0,0,0,0,0,25.63,25.28,25.65,9.94,35.11
$GC,730,1.95,488.8,2987,1323,1597,4094,38.0,15.7,52,745,0.00,1.90,0.00,0.000,1030,0.000,0.112,2987,2057,1596,1596,4094,0,0,0,0,0,0,25.46,25.43,25.49,9.94,35.31
$GC,809,1.95,488.8,2987,2057,1595,4094,25.8,15.9,58,827,0.00,2.17,0.00,0.000,260,0.000,0.214,2987,2831,1594,1594,4094,0,0,0,0,0,0,25.85,25.46,25.86,9.94,34.91
$GC,893,1.95,488.8,2987,2831,1591,4094,13.3,14.2,64,909,0.00,1.90,0.00,0.000,1030,0.000,0.102,2987,2098,1591,1591,4094,0,0,0,0,0,0,25.72,25.68,25.75,9.93,35.46
$STATE,971,end climb,SURFACE_DEPTH_REACHED
$STATE,971,begin surface coast
$FINISH,0.1,1.024824
$STATE,998,end surface coast,CONTROL_FINISHED_OK
$STATE,999,begin surface
$SM_CCo,1097,0.00,0.000,0,0,1589,503.14
$SM_GC,1.12,29.25,0.17,0.00,0.079,0.219,0.000,231,2195,1589,-6.71,-1.05,503.14,0,0,1,0,0,0,25.48,25.81,25.72
$IRIDIUM_FIX,5554.28,-16557.83,040517,102349
$TT8_MAMPS,0.026215,0.259154
$HUMID,35.54
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,12.9
$24V_AH,23.46,36.773
$10V_AH,8.45,17.409
$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,48.250,18.675,58.100,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,256.703,60.574,118.754,689.933,29.368,33.410,346.427,0.000,703.101,0.000,5.458,0.000
$DEVICE_MAMPS,213.538,218.504,4439.604,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.023,92.357,154.798,393.471,679.097,0.000,0.000,0.000,0.000,0.000
$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,7335,72
$CAP_FILE_SIZE,20071,8
$CFSIZE,1024409600,999981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,114554,5651.597,-16444.848,3,1.0,16,11.1,0.7,294.8,9,4.7