version: 66.12
glider: 401
mission: 20
dive: 65
start: 4 29 117 16 28 30
data:
$ID,401
$MISSION,20
$DIVE,65
$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,12
$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
$GPS1,290417,160855,5713.5107,-16532.1758,5,0.7,18,10.8,0.8,268.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,5.8
$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,0.212576,-0.297296
$KALMAN_X,-4917.725586,768.849792,283.688232,17116.332031,26.542023
$KALMAN_Y,2738.024902,-94.929184,-197.959534,-4418.982910,259.580017
$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,16,-1.72,-439.9,2350,2027,2365,4094,0.0,0.0,0,19,0.00,0.00,-1.50,0.000,16390,0.000,0.000,2350,2027,2698,2698,4095,0,0,0,0,0,0,26.11,24.63,26.08,10.06,35.70
$GC,21,-1.72,-439.9,2350,2027,2698,4094,0.0,0.0,0,39,5.43,0.00,0.00,0.000,4102,0.216,0.000,1866,2027,2698,2698,4094,0,0,0,0,0,0,25.81,25.88,25.85,10.14,35.39
$GC,102,-1.72,-439.9,1865,2027,2700,4094,12.8,-9.8,6,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2027,2700,2700,4095,0,0,0,0,0,0,26.17,26.18,26.17,10.13,35.03
$GC,179,-1.72,-439.9,1865,2027,2701,4094,21.4,-11.3,12,193,0.00,4.03,0.00,0.000,516,0.000,0.273,1865,607,2702,2702,4095,0,0,0,0,0,0,26.22,25.76,26.23,10.13,35.23
$GC,220,-1.72,-439.9,1865,607,2702,4094,26.5,-12.0,15,239,0.00,3.72,0.00,0.000,1030,0.000,0.149,1865,2023,2702,2702,4094,0,0,0,0,0,0,25.96,25.91,25.99,10.13,35.50
$GC,304,-1.72,-439.9,1865,2023,2704,4094,36.1,-10.8,21,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2023,2704,2704,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.12,34.60
$GC,383,-1.72,-439.9,1865,2023,2705,4094,44.4,-10.8,27,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2023,2706,2706,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.12,34.72
$GC,465,-1.72,-439.9,1865,2023,2707,4094,53.3,-10.9,33,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2023,2707,2707,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.12,34.72
$STATE,517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,517,begin apogee
$GC,520,-0.45,0.0,1865,2023,2708,4095,59.3,-11.1,37,563,4.35,0.00,26.83,4.345,10244,0.221,0.000,2256,2023,2173,2173,4094,0,0,0,0,0,0,26.05,24.85,24.07,10.12,35.03
$STATE,564,end apogee,CONTROL_FINISHED_OK
$STATE,564,begin climb
$GC,565,1.72,439.9,2256,2023,2173,4094,61.9,0.0,40,603,7.47,0.00,25.92,4.273,11270,0.142,0.000,2942,2023,1662,1662,4094,0,0,0,0,0,0,25.43,25.64,23.64,10.01,34.36
$GC,665,1.72,439.9,2942,2024,1659,4094,53.7,12.3,47,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2024,1659,1659,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.91,34.68
$GC,741,1.72,439.9,2942,2023,1657,4094,43.5,13.5,53,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2023,1657,1657,4094,0,0,0,0,0,0,25.73,25.75,25.74,9.91,34.44
$GC,818,1.72,439.9,2942,2024,1655,4094,33.1,13.5,59,832,0.00,4.15,0.00,0.000,260,0.000,0.291,2942,3442,1654,1654,4094,0,0,0,0,0,0,25.86,25.43,25.88,9.90,34.32
$GC,884,1.72,439.9,2942,3442,1653,4094,23.0,15.3,64,902,0.00,3.78,0.00,0.000,1030,0.000,0.132,2942,2031,1652,1652,4094,0,0,0,0,0,0,25.69,25.66,25.72,9.90,34.20
$GC,968,1.72,439.9,2942,2031,1650,4095,11.7,13.1,70,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2031,1650,1650,4094,0,0,0,0,0,0,26.03,26.05,26.05,9.90,34.56
$STATE,1045,end climb,SURFACE_DEPTH_REACHED
$STATE,1045,begin surface coast
$FINISH,0.0,1.024730
$STATE,1072,end surface coast,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$SM_CCo,1167,0.00,0.000,0,0,1648,452.48
$SM_GC,0.82,28.70,0.00,0.00,0.107,0.000,0.000,242,2024,1648,-6.77,-0.05,452.48,0,0,0,0,0,0,25.85,26.15,25.91
$IRIDIUM_FIX,5744.64,-16600.79,290417,151816
$TT8_MAMPS,0.026215,0.249417
$HUMID,35.03
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.64,9.528
$10V_AH,8.86,8.806
$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,45.950,15.675,52.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,272.039,60.171,114.788,753.439,19.645,33.409,356.987,0.000,766.668,0.000,5.447,0.000
$DEVICE_MAMPS,220.987,290.511,4345.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.691,100.187,167.751,431.643,742.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7446,78
$CAP_FILE_SIZE,20522,7
$CFSIZE,1024409600,1015316480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,164849,5713.736,-16531.359,3,0.8,21,10.8,0.5,165.6,10,4.8