version: 66.12
glider: 401
mission: 20
dive: 152
start: 5 1 117 1 36 26
data:
$ID,401
$MISSION,20
$DIVE,152
$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,15
$R_STBD_OVSHOOT,19
$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
$GPS1,010517,013016,5710.7705,-16508.2988,2,0.9,23,11.0,0.6,231.8,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-40.4
$GPS2,010517,013525,5710.7480,-16508.4414,4,0.8,22,11.0,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.055,-16449.750
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188424,0.313219
$KALMAN_X,-8262.985352,1308.534180,124.837280,43872.617188,-373.103027
$KALMAN_Y,9865.313477,-48.187744,-334.031433,-16561.000000,-322.062622
$MHEAD_RNG_PITCHd_Wd,99.0,20000,-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,-439.9,232,2009,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.68,0.000,16390,0.000,0.000,232,2009,2694,2694,4094,0,0,0,0,0,0,26.04,25.19,26.06,9.91,35.46
$GC,36,-1.72,-439.9,232,2009,2694,4094,0.9,0.0,1,69,20.42,3.95,0.00,0.000,2564,0.410,0.238,1849,606,2697,2697,4094,0,0,0,0,0,0,25.48,25.44,25.56,10.13,36.45
$GC,108,-1.72,-439.9,1849,606,2698,4094,20.1,-26.9,6,123,0.00,3.75,0.00,0.000,1030,0.000,0.142,1850,2019,2698,2698,4094,0,0,0,0,0,0,25.67,25.62,25.71,10.13,35.46
$GC,185,-1.72,-439.9,1849,2018,2700,4094,29.8,-12.5,12,200,0.00,4.18,0.00,0.000,260,0.000,0.310,1850,3436,2700,2700,4094,0,0,0,0,0,0,26.03,25.56,26.04,10.13,34.95
$GC,239,-1.72,-439.9,1849,3436,2701,4095,36.7,-12.8,16,257,0.00,3.67,0.00,0.000,1030,0.000,0.132,1850,2050,2702,2702,4095,0,0,0,0,0,0,25.83,25.76,25.86,10.12,35.11
$GC,323,-1.72,-439.9,1849,2050,2703,4094,46.7,-11.6,22,339,0.00,4.07,0.00,0.000,516,0.000,0.263,1850,606,2703,2703,4095,0,0,0,0,0,0,26.15,25.70,26.15,10.12,34.80
$GC,371,-1.72,-439.9,1849,606,2704,4094,52.7,-12.5,25,386,0.00,3.72,0.00,0.000,1030,0.000,0.142,1850,2025,2705,2705,4094,0,0,0,0,0,0,25.90,25.85,25.93,10.12,34.83
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,429,-0.45,0.0,1849,2025,2705,4095,59.0,-11.4,29,463,4.55,0.00,26.67,4.370,10244,0.211,0.000,2257,2025,2173,2173,4095,0,0,0,0,0,0,25.89,25.01,23.90,10.12,34.48
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,465,1.72,439.9,2257,2025,2173,4094,61.9,0.0,31,512,7.50,0.00,26.17,4.286,11270,0.137,0.000,2943,2025,1662,1662,4094,0,0,0,0,0,0,25.28,25.46,23.51,10.01,34.36
$GC,574,1.72,439.9,2942,2025,1660,4094,52.3,13.2,39,592,0.00,4.12,0.00,0.000,516,0.000,0.263,2943,611,1659,1659,4094,0,0,0,0,0,0,25.48,25.09,25.50,9.90,34.44
$GC,656,1.72,439.9,2943,611,1657,4094,40.6,14.2,45,674,0.00,3.67,0.00,0.000,1030,0.000,0.132,2943,1990,1657,1657,4094,0,0,0,0,0,0,25.46,25.41,25.48,9.90,33.89
$GC,740,1.72,439.9,2942,1990,1655,4095,29.5,12.8,51,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1990,1654,1654,4094,0,0,0,0,0,0,25.84,25.86,25.85,9.90,34.80
$GC,817,1.72,439.9,2943,1990,1653,4094,20.2,12.4,57,835,0.00,4.20,0.00,0.000,260,0.000,0.281,2943,3434,1652,1652,4094,0,0,0,0,0,0,25.94,25.51,25.95,9.91,34.24
$GC,863,1.72,439.9,2943,3434,1651,4094,13.6,13.7,60,882,0.00,3.90,0.00,0.000,1030,0.000,0.129,2943,1974,1651,1651,4094,0,0,0,0,0,0,25.74,25.67,25.75,9.92,35.23
$STATE,947,end climb,FINISH_DEPTH_REACHED
$STATE,947,begin subsurface finish
$FINISH1,1.6,1.025275,-159
$GC,952,-0.25,-159.2,2943,2050,1649,4094,1.6,13.9,66,973,6.57,4.38,-6.53,0.000,20996,0.196,4.221,2344,606,2365,2365,4094,0,0,0,0,0,0,25.83,24.33,25.86,9.91,34.87
$FINISH2,0.3
$STATE,974,end subsurface finish,CONTROL_FINISHED_OK
$STATE,974,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,004629
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.50
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.4
$24V_AH,23.51,16.088
$10V_AH,8.79,11.317
$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,39.050,43.775,52.850,0.000,0.000,22.271,18.303,177.276,0.500,0.000,24.137,247.754,0.000,107.444,905.819,46.031,33.436,367.460,0.000,670.642,0.000,7.327,0.000
$DEVICE_MAMPS,409.695,4221.100,4370.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.423,85.833,144.048,382.421,646.136,0.000,0.000,0.000,0.000,0.000
$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,7389,67
$CAP_FILE_SIZE,25357,11
$CFSIZE,1024409600,1011040256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,013525,5710.748,-16508.441,4,0.8,22,11.0,0.0,0.0,10,5.0