version: 66.12
glider: 401
mission: 20
dive: 14
start: 4 28 117 22 10 35
data:
$ID,401
$MISSION,20
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,55
$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,18
$T_MISSION,28
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$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,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,55
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,24
$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,30
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,280417,220450,5714.0635,-16542.8809,3,0.7,15,10.7,0.0,0.0,11,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-49.2
$GPS2,280417,220935,5714.0405,-16542.9414,5,0.8,15,10.7,0.0,304.3,10,5.0
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.226832,0.135012
$KALMAN_X,-515.526428,-75.432083,8.760807,3051.998047,-125.533295
$KALMAN_Y,-386.144592,208.742096,1.497643,-809.627808,-177.701263
$MHEAD_RNG_PITCHd_Wd,48.5,93761,-18.3,-10.185,-21.10,2908
$D_GRID,55
$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,15,-1.98,-195.5,242,2009,1822,4094,0.0,0.0,0,33,0.00,0.00,-5.20,0.000,16390,0.000,0.000,242,2009,2406,2406,4094,0,0,0,0,0,0,26.06,25.16,26.07,9.96,35.62
$GC,34,-1.98,-195.5,242,2009,2406,4094,1.1,0.0,1,67,19.90,3.53,0.00,0.000,2308,0.435,0.266,1768,3211,2408,2408,4094,0,0,0,0,0,0,25.33,25.32,25.41,10.09,35.66
$GC,153,-1.98,-195.5,1767,3211,2410,4094,22.8,-15.2,10,168,0.00,3.17,0.00,0.000,1030,0.000,0.129,1768,2024,2411,2411,4094,0,0,0,0,0,0,25.68,25.63,25.71,10.07,35.39
$GC,234,-1.98,-195.5,1767,2024,2413,4094,34.9,-14.6,16,253,0.00,3.40,0.00,0.000,516,0.000,0.268,1768,826,2413,2413,4095,0,0,0,0,0,0,26.06,25.61,26.07,10.07,34.99
$GC,361,-1.98,-195.5,1768,826,2417,4094,54.1,-15.8,26,380,0.00,3.00,0.00,0.000,1030,0.000,0.139,1768,1976,2418,2418,4094,0,0,0,0,0,0,25.88,25.82,25.91,10.06,33.93
$STATE,393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,393,begin apogee
$GC,397,-0.45,0.0,1768,2046,2418,4094,58.9,-14.7,28,428,5.65,0.00,13.43,4.003,10244,0.273,0.000,2255,2046,2174,2174,4094,0,0,0,0,0,0,25.79,24.94,24.15,10.07,34.17
$STATE,429,end apogee,CONTROL_FINISHED_OK
$STATE,430,begin climb
$GC,431,1.98,195.5,2255,2046,2174,4094,62.0,0.0,30,464,8.40,0.00,12.55,3.933,11270,0.146,0.000,3025,2046,1946,1946,4094,0,0,0,0,0,0,25.58,25.79,23.94,10.02,34.09
$GC,526,1.98,195.5,3024,2046,1945,4094,53.5,12.9,37,540,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2046,1945,1945,4095,0,0,0,0,0,0,25.78,25.79,25.79,9.97,34.05
$GC,602,1.98,195.5,3024,2046,1943,4094,43.4,13.2,43,620,0.00,3.50,0.00,0.000,516,0.000,0.263,3025,826,1942,1942,4094,0,0,0,0,0,0,25.92,25.50,25.94,9.96,33.85
$GC,648,1.98,195.5,3025,826,1942,4094,36.8,13.9,46,666,0.00,3.10,0.00,0.000,1030,0.000,0.132,3025,2010,1941,1941,4094,0,0,0,0,0,0,25.72,25.67,25.75,9.96,34.44
$GC,730,1.98,195.5,3024,2010,1939,4094,25.7,13.1,52,748,0.00,3.35,0.00,0.000,516,0.000,0.268,3025,829,1938,1938,4094,0,0,1,0,0,0,26.07,25.64,26.08,9.96,34.40
$GC,787,1.98,195.5,3025,829,1937,4094,18.6,12.5,56,805,0.00,3.03,0.00,0.000,1030,0.000,0.134,3025,1993,1937,1937,4094,0,0,0,0,0,0,25.85,25.81,25.88,9.96,33.73
$GC,868,1.98,195.5,3025,1993,1935,4094,8.0,12.7,62,883,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1993,1935,1935,4094,0,0,0,0,0,0,26.18,26.20,26.20,9.96,34.01
$STATE,908,end climb,FINISH_DEPTH_REACHED
$STATE,909,begin subsurface finish
$FINISH1,2.9,1.025044,0
$GC,914,0.00,0.0,3025,2033,1934,4094,2.9,12.4,65,932,7.22,0.00,-2.20,0.000,20486,0.335,0.000,2423,2035,2179,2179,4094,0,0,0,0,0,0,25.76,25.34,25.84,9.96,34.13
$FINISH2,0.8
$STATE,933,end subsurface finish,CONTROL_FINISHED_OK
$STATE,934,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,280417,212527
$TT8_MAMPS,0.026215,0.258405
$HUMID,34.13
$INTERNAL_PRESSURE,9.95511
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,31.1,9.1
$24V_AH,23.94,6.431
$10V_AH,8.94,7.421
$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,41.175,26.250,25.975,0.000,0.000,24.049,20.733,164.173,0.500,0.000,16.916,246.488,0.000,96.140,872.803,27.815,33.465,337.590,0.000,647.361,0.000,7.327,0.000
$DEVICE_MAMPS,434.525,474.253,4002.596,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.124,84.665,141.955,359.228,622.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344596
$DATA_FILE_SIZE,7307,66
$CAP_FILE_SIZE,24030,11
$CFSIZE,1024409600,1017823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280417,220935,5714.041,-16542.941,5,0.8,15,10.7,0.0,304.3,10,5.0