version: 66.12
glider: 401
mission: 20
dive: 26
start: 4 29 117 2 22 56
data:
$ID,401
$MISSION,20
$DIVE,26
$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,38
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,2
$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,16
$R_STBD_OVSHOOT,25
$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,45
$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
$GPS1,290417,021704,5714.0225,-16546.2969,2,0.9,15,10.7,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-48.8
$GPS2,290417,022155,5714.0532,-16546.3711,6,0.9,18,10.7,0.0,0.0,9,4.9
$SPEED_LIMITS,0.102,0.315
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.285830,-0.132450
$KALMAN_X,-4725.179199,-1202.667847,-905.994568,5863.183594,-167.928406
$KALMAN_Y,-708.896362,-42.355286,-137.642273,-84.927124,106.829582
$MHEAD_RNG_PITCHd_Wd,93.6,97114,-14.8,-10.185,-17.92,4340
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.82,-293.3,242,2030,1822,4094,0.0,0.0,0,34,0.00,0.00,-6.15,0.000,16390,0.000,0.000,242,2030,2519,2519,4094,0,0,0,0,0,0,26.03,25.18,26.05,9.96,35.23
$GC,35,-1.82,-293.3,243,2030,2519,4095,1.2,0.0,1,66,20.45,3.45,0.00,0.000,2308,0.430,0.271,1819,3209,2522,2522,4094,0,0,0,0,0,0,25.35,25.32,25.44,10.12,36.21
$GC,82,-1.82,-293.3,1818,3209,2522,4094,14.6,-29.1,4,100,0.00,3.20,0.00,0.000,1030,0.000,0.132,1819,2021,2522,2522,4094,0,0,0,0,0,0,25.56,25.52,25.58,10.12,35.23
$GC,167,-1.82,-293.3,1818,2020,2524,4094,26.9,-13.7,10,182,0.00,3.40,0.00,0.000,516,0.000,0.266,1819,825,2525,2525,4094,0,0,0,0,0,0,25.96,25.53,25.98,10.10,34.60
$GC,235,-1.82,-293.3,1818,825,2527,4095,35.9,-13.6,15,253,0.00,3.12,0.00,0.000,1030,0.000,0.144,1819,2007,2527,2527,4094,0,0,0,0,0,0,25.75,25.70,25.79,10.10,34.48
$GC,324,-1.82,-293.3,1818,2008,2528,4094,47.4,-12.5,21,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2008,2529,2529,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,34.32
$STATE,389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,389,begin apogee
$GC,392,-0.45,0.0,1818,2008,2530,4094,56.2,-13.9,26,422,5.00,0.00,18.60,4.127,10244,0.248,0.000,2256,2008,2174,2174,4094,0,0,0,0,0,0,25.82,25.16,24.07,10.09,34.60
$STATE,423,end apogee,CONTROL_FINISHED_OK
$STATE,423,begin climb
$GC,424,1.82,293.3,2256,2008,2173,4094,58.6,0.0,28,458,7.82,0.00,17.95,4.042,11270,0.142,0.000,2973,2008,1833,1833,4094,0,0,0,0,0,0,25.44,25.63,23.77,10.02,33.73
$GC,522,1.82,293.3,2972,2009,1831,4094,47.7,15.4,35,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2008,1830,1830,4094,0,0,0,0,0,0,25.63,25.65,25.64,9.96,33.93
$GC,604,1.82,293.3,2972,2008,1828,4094,35.6,14.1,41,620,0.00,3.50,0.00,0.000,260,0.000,0.253,2973,3223,1828,1828,4094,0,0,0,0,0,0,25.82,25.39,25.83,9.95,33.69
$GC,659,1.82,293.3,2973,3223,1826,4094,27.1,15.4,45,675,0.00,3.17,0.00,0.000,1030,0.000,0.122,2973,2032,1826,1826,4095,0,0,0,0,0,0,25.64,25.59,25.66,9.95,34.05
$GC,737,1.82,293.3,2973,2032,1824,4094,16.3,13.3,51,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2032,1823,1823,4094,0,0,0,0,0,0,26.00,26.01,26.01,9.95,34.32
$GC,815,1.82,293.3,2972,2032,1821,4094,5.7,13.6,57,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2032,1822,1822,4094,0,0,0,0,0,0,26.08,26.09,26.09,9.95,34.01
$STATE,844,end climb,FINISH_DEPTH_REACHED
$STATE,844,begin subsurface finish
$FINISH1,2.1,1.025025,-142
$GC,848,-0.23,-141.8,2973,2032,1820,4094,2.1,12.6,59,864,6.60,0.00,-4.95,0.000,20486,0.139,0.000,2355,2032,2345,2345,4095,0,0,0,0,0,0,25.84,24.61,25.88,9.96,34.68
$FINISH2,0.1
$STATE,865,end subsurface finish,CONTROL_FINISHED_OK
$STATE,865,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,013651
$TT8_MAMPS,0.026215,0.247919
$HUMID,34.24
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,45.2,6.9
$24V_AH,23.77,6.935
$10V_AH,8.93,7.741
$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,39.875,19.850,36.550,0.000,0.000,23.294,32.064,154.154,0.500,0.000,19.180,238.068,0.000,89.958,827.079,26.199,33.454,319.703,0.000,595.985,0.000,7.319,0.000
$DEVICE_MAMPS,429.559,270.647,4126.746,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.825,76.900,129.068,336.994,571.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344576
$DATA_FILE_SIZE,3941,60
$CAP_FILE_SIZE,22282,4
$CFSIZE,1024409600,1017233408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,3.512,95.37,1
$GPS,290417,022155,5714.053,-16546.371,6,0.9,18,10.7,0.0,0.0,9,4.9