version: 66.12
glider: 401
mission: 20
dive: 95
start: 4 30 117 3 46 55
data:
$ID,401
$MISSION,20
$DIVE,95
$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,110
$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,14
$R_STBD_OVSHOOT,13
$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
$GPS1,300417,032826,5712.6533,-16527.8340,8,0.9,39,10.8,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,4.1
$GPS2,300417,032826,5712.6533,-16527.8340,8,0.9,39,10.8,0.0,0.0,9,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.960,-16509.127
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.323118,-0.170714
$KALMAN_X,-8065.021973,14.959020,-772.336121,26424.216797,-205.478271
$KALMAN_Y,5430.281250,-265.121643,-414.153168,-8312.355469,138.352966
$MHEAD_RNG_PITCHd_Wd,99.2,20000,-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,-439.9,2348,2021,2369,4094,0.0,0.0,0,19,0.00,0.00,-1.62,0.000,16390,0.000,0.000,2349,2021,2698,2698,4094,0,0,0,0,0,0,26.08,24.60,26.05,10.06,34.99
$GC,21,-1.72,-439.9,2348,2021,2697,4095,0.0,0.0,0,39,5.38,0.00,0.00,0.000,4102,0.211,0.000,1867,2021,2697,2697,4094,0,0,0,0,0,0,25.79,25.86,25.82,10.13,35.94
$GC,101,-1.72,-439.9,1867,2021,2698,4094,11.4,-9.4,6,116,0.00,4.00,0.00,0.000,516,0.000,0.266,1867,607,2699,2699,4094,0,0,0,0,0,0,26.14,25.70,26.15,10.12,35.11
$GC,143,-1.72,-439.9,1867,607,2700,4094,16.8,-11.9,9,158,0.00,3.70,0.00,0.000,1030,0.000,0.144,1867,2014,2700,2700,4094,0,0,0,0,0,0,25.89,25.84,25.92,10.12,34.83
$GC,221,-1.72,-439.9,1866,2013,2701,4095,26.4,-11.6,15,236,0.00,4.18,0.00,0.000,260,0.000,0.313,1867,3440,2702,2702,4094,0,0,0,0,0,0,26.21,25.74,26.22,10.12,35.35
$GC,263,-1.72,-439.9,1866,3440,2702,4094,31.6,-12.1,18,278,0.00,3.75,0.00,0.000,1030,0.000,0.137,1868,2021,2702,2702,4095,0,0,0,0,0,0,25.97,25.92,25.99,10.13,34.72
$GC,340,-1.72,-439.9,1866,2021,2704,4094,39.6,-10.2,24,355,0.00,3.97,0.00,0.000,516,0.000,0.273,1867,609,2704,2704,4094,0,0,0,0,0,0,26.27,25.82,26.28,10.12,35.15
$GC,382,-1.72,-439.9,1867,610,2705,4095,44.3,-11.1,27,400,0.00,3.65,0.00,0.000,1030,0.000,0.146,1867,2002,2705,2705,4094,0,0,0,0,0,0,26.01,25.97,26.06,10.11,34.60
$GC,471,-1.72,-439.9,1866,2002,2706,4094,53.8,-10.6,33,489,0.00,4.18,0.00,0.000,260,0.000,0.303,1867,3446,2707,2707,4094,0,0,0,0,0,0,26.32,25.83,26.33,10.11,34.48
$GC,505,-1.72,-439.9,1866,3446,2707,4094,57.4,-10.7,35,519,0.00,3.78,0.00,0.000,1030,0.000,0.139,1868,2013,2707,2707,4095,0,0,0,0,0,0,26.06,26.03,26.10,10.12,35.27
$STATE,535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,535,begin apogee
$GC,538,-0.45,0.0,1867,2013,2708,4095,60.7,-10.8,37,575,4.32,0.00,26.58,4.402,10244,0.216,0.000,2256,2012,2174,2174,4094,0,0,0,0,0,0,26.02,25.12,24.00,10.11,34.87
$STATE,576,end apogee,CONTROL_FINISHED_OK
$STATE,576,begin climb
$GC,578,1.72,439.9,2256,2012,2173,4095,63.2,0.0,39,629,7.45,4.25,26.20,4.315,10500,0.137,0.295,2949,3442,1661,1661,4094,0,0,0,0,0,0,25.29,25.19,23.60,10.00,34.44
$GC,645,1.72,439.9,2949,3442,1661,4094,58.8,9.3,43,660,0.00,3.88,0.00,0.000,1030,0.000,0.124,2950,2024,1661,1661,4094,0,0,0,0,0,0,25.10,25.05,25.13,9.91,33.61
$GC,722,1.72,439.9,2949,2024,1659,4094,48.0,14.4,49,740,0.00,4.10,0.00,0.000,516,0.000,0.268,2950,607,1658,1658,4094,0,0,0,0,0,0,25.62,25.20,25.64,9.90,33.81
$GC,768,1.72,439.9,2949,607,1657,4094,41.3,14.1,52,783,0.00,3.80,0.00,0.000,1030,0.000,0.142,2949,2027,1657,1657,4094,0,0,0,0,0,0,25.47,25.43,25.51,9.90,33.77
$GC,845,1.72,439.9,2949,2027,1655,4094,30.4,14.1,58,860,0.00,4.12,0.00,0.000,260,0.000,0.283,2950,3439,1655,1655,4094,0,0,0,0,0,0,25.85,25.43,25.86,9.90,34.01
$GC,911,1.72,439.9,2949,3439,1653,4094,21.3,14.0,63,930,0.00,3.75,0.00,0.000,1030,0.000,0.127,2950,2032,1652,1652,4094,0,0,0,0,0,0,25.68,25.63,25.72,9.91,34.48
$GC,995,1.72,439.9,2949,2031,1651,4094,10.0,13.2,69,1011,0.00,4.03,0.00,0.000,516,0.000,0.266,2950,614,1650,1650,4094,0,0,0,0,0,0,26.03,25.58,26.04,9.90,34.56
$GC,1038,1.72,439.9,2949,614,1649,4094,4.0,13.6,72,1057,0.00,3.75,0.00,0.000,1030,0.000,0.142,2950,2038,1648,1648,4094,0,0,0,0,0,0,25.79,25.75,25.82,9.90,35.03
$STATE,1071,end climb,SURFACE_DEPTH_REACHED
$STATE,1071,begin surface coast
$FINISH,-0.0,1.025312
$STATE,1098,end surface coast,CONTROL_FINISHED_OK
$STATE,1098,begin surface
$SM_CCo,1193,0.00,0.000,0,0,1648,452.48
$SM_GC,0.83,28.70,0.00,0.00,0.099,0.000,0.000,243,2039,1648,-6.77,0.64,452.48,0,0,0,0,0,0,25.80,26.12,25.87
$IRIDIUM_FIX,5744.64,-16600.79,300417,023835
$TT8_MAMPS,0.026215,0.26215
$HUMID,35.27
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.5
$24V_AH,23.60,11.768
$10V_AH,8.82,9.666
$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,45.850,62.875,52.775,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,282.736,59.677,142.620,737.406,23.632,33.404,429.453,0.000,749.713,0.000,5.447,0.000
$DEVICE_MAMPS,216.021,312.858,4402.359,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.555,97.396,163.429,422.036,725.716,0.000,0.000,0.000,0.000,0.000
$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,7324,76
$CAP_FILE_SIZE,26265,11
$CFSIZE,1024409600,1013841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,040733,5712.872,-16527.639,3,0.8,12,10.8,0.6,296.0,11,5.0