version: 66.12
glider: 401
mission: 20
dive: 64
start: 4 29 117 16 9 56
data:
$ID,401
$MISSION,20
$DIVE,64
$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,109
$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,20
$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,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
$GPS1,290417,160359,5713.4492,-16532.1523,3,0.8,15,10.8,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-38.3
$GPS2,290417,160855,5713.5107,-16532.1758,5,0.7,18,10.8,0.8,268.8,11,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.995,-16513.344
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.219350,-0.292356
$KALMAN_X,-4821.514648,816.579651,362.084595,16883.615234,-90.598450
$KALMAN_Y,2549.701416,-141.052307,-311.451050,-4081.248535,291.391083
$MHEAD_RNG_PITCHd_Wd,98.2,20000,-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,15,-1.72,-439.9,232,2019,1647,4094,0.0,0.0,0,33,0.00,0.00,-9.50,0.000,16390,0.000,0.000,232,2019,2690,2690,4095,0,0,0,0,0,0,26.01,25.18,26.03,9.92,36.17
$GC,34,-1.72,-439.9,232,2019,2690,4094,0.8,0.0,1,71,20.35,0.00,0.00,0.000,2054,0.405,0.000,1849,2012,2693,2693,4094,0,0,0,0,0,0,25.46,25.58,25.54,10.13,36.49
$GC,134,-1.72,-439.9,1848,2012,2695,4094,21.9,-12.8,8,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2012,2695,2695,4095,0,0,0,0,0,0,25.96,25.98,25.98,10.13,35.39
$GC,211,-1.72,-439.9,1849,2012,2696,4094,31.6,-12.5,14,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2012,2696,2696,4095,0,0,0,0,0,0,26.06,26.07,26.07,10.13,35.86
$GC,288,-1.72,-439.9,1848,2012,2697,4095,40.4,-11.7,20,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2012,2698,2698,4094,0,0,0,0,0,0,26.12,26.14,26.14,10.13,35.07
$GC,365,-1.72,-439.9,1848,2012,2699,4094,49.3,-11.6,26,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2012,2700,2700,4095,0,0,0,0,0,0,26.18,26.20,26.19,10.12,34.72
$STATE,437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,437,begin apogee
$GC,440,-0.45,0.0,1849,2012,2701,4094,58.1,-11.9,31,484,4.55,0.00,26.27,4.315,10246,0.223,0.000,2256,2012,2179,2179,4094,0,0,0,0,0,0,25.90,24.74,23.96,10.13,35.03
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,486,1.72,439.9,2255,2012,2179,4094,60.9,0.0,34,524,7.47,0.00,26.35,4.246,10246,0.137,0.000,2943,2012,1661,1661,4094,0,0,0,0,0,0,25.34,24.57,23.57,10.01,34.44
$GC,586,1.72,439.9,2942,2012,1660,4094,53.0,12.1,41,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2012,1659,1659,4094,0,0,0,0,0,0,25.47,25.48,25.48,9.92,34.44
$GC,662,1.72,439.9,2942,2012,1657,4094,42.9,13.5,47,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2012,1657,1657,4094,0,0,0,0,0,0,25.69,25.71,25.70,9.91,34.64
$GC,741,1.72,439.9,2942,2012,1654,4094,31.8,14.3,53,756,0.00,4.15,0.00,0.000,260,0.000,0.286,2943,3435,1654,1654,4095,0,0,1,0,0,0,25.84,25.41,25.85,9.91,34.20
$GC,796,1.72,439.9,2942,3435,1653,4094,23.5,15.2,57,810,0.00,3.75,0.00,0.000,1030,0.000,0.129,2943,2033,1653,1653,4094,0,0,0,0,0,0,25.65,25.62,25.72,9.90,34.32
$GC,874,1.72,439.9,2942,2033,1650,4095,13.3,12.5,63,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2033,1650,1650,4094,0,0,0,0,0,0,25.99,26.01,26.01,9.91,34.32
$GC,950,1.72,439.9,2942,2033,1648,4094,3.2,14.1,69,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2030,1648,1648,4094,0,0,0,0,0,0,26.06,26.08,26.08,9.91,34.76
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,0.3,1.025238,-157
$GC,987,-0.25,-156.6,2943,2027,1648,4094,0.3,11.4,71,1007,6.25,0.00,-6.72,0.000,20486,0.119,0.000,2351,2026,2364,2364,4094,0,0,0,0,0,0,25.84,24.49,25.88,9.93,34.68
$FINISH2,0.2
$STATE,1007,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1008,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,151816
$TT8_MAMPS,0.026215,0.259154
$HUMID,34.80
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.57,9.462
$10V_AH,8.82,8.778
$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,38.625,7.900,52.625,0.000,0.000,25.417,16.297,169.492,0.500,0.000,19.353,252.785,0.000,103.416,938.441,33.581,33.435,367.092,0.000,706.390,0.000,7.311,0.000
$DEVICE_MAMPS,404.729,285.545,4315.454,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.184,92.342,154.833,393.474,681.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,7409,72
$CAP_FILE_SIZE,23419,9
$CFSIZE,1024409600,1015365632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,160855,5713.511,-16532.176,5,0.7,18,10.8,0.8,268.8,11,5.0