version: 66.12
glider: 401
mission: 20
dive: 210
start: 5 1 117 23 16 21
data:
$ID,401
$MISSION,20
$DIVE,210
$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,1
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10
$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,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,47
$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,16
$ALTIM_PULSE,2
$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
$GPS1,010517,231012,5709.9771,-16448.5312,2,0.9,19,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-44.6
$GPS2,010517,231520,5709.9668,-16448.5273,4,0.7,21,11.1,1.9,63.5,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,SE
$TGT_LATLONG,5639.910,-16352.230
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.312122,-0.190238
$KALMAN_X,-7152.861328,2100.845703,783.445679,61252.382812,-70.934692
$KALMAN_Y,16020.253906,695.428772,585.098694,-25830.945312,-71.307922
$MHEAD_RNG_PITCHd_Wd,110.3,79883,-11.2,-9.667,-14.81,6802
$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,-1.82,-439.9,231,2190,1646,4094,0.0,0.0,0,34,0.00,0.00,-9.52,0.000,16390,0.000,0.000,231,2190,2694,2694,4095,0,0,0,0,0,0,26.04,25.19,26.06,9.93,36.25
$GC,36,-1.82,-439.9,231,2190,2694,4095,0.9,0.0,1,65,19.88,3.38,0.00,0.000,2564,0.420,0.201,1781,972,2696,2696,4095,0,0,0,0,0,0,25.45,25.47,25.54,10.15,35.66
$GC,163,-1.82,-439.9,1780,972,2699,4094,30.6,-16.7,11,178,0.00,3.08,0.00,0.000,1030,0.000,0.134,1781,2136,2699,2699,4094,0,0,0,0,0,0,25.72,25.69,25.78,10.14,35.98
$GC,240,-1.82,-439.9,1780,2135,2701,4094,42.0,-14.5,17,255,0.00,3.60,0.00,0.000,260,0.000,0.303,1781,3365,2701,2701,4095,0,0,0,0,0,0,26.09,25.61,26.10,10.13,35.03
$GC,271,-1.82,-439.9,1779,3365,2702,4094,46.8,-15.1,19,289,0.00,3.12,0.00,0.000,1030,0.000,0.127,1781,2173,2702,2702,4094,0,0,0,0,0,0,25.88,25.84,25.90,10.13,34.80
$STATE,354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,355,begin apogee
$GC,359,-0.50,0.0,1780,2048,2705,4095,59.6,-14.8,25,406,4.88,0.08,26.77,4.442,10244,0.233,0.221,2211,2089,2174,2174,4094,0,0,0,0,0,0,25.86,24.64,23.84,10.13,34.87
$STATE,407,end apogee,CONTROL_FINISHED_OK
$STATE,407,begin climb
$GC,409,1.82,439.9,2211,2089,2174,4094,63.5,0.0,28,456,8.02,3.42,26.30,4.385,10500,0.146,0.273,2949,3254,1660,1660,4094,0,0,0,0,0,0,25.22,25.12,23.49,10.02,35.23
$GC,495,1.82,439.9,2948,3254,1659,4094,57.6,11.4,34,510,0.00,3.10,0.00,0.000,1030,0.000,0.119,2949,2111,1658,1658,4094,0,0,0,0,0,0,25.15,25.10,25.17,9.92,33.85
$GC,572,1.82,439.9,2949,2111,1658,4094,47.3,13.1,40,587,0.00,3.55,0.00,0.000,516,0.000,0.258,2949,882,1656,1656,4094,0,0,0,0,0,0,25.63,25.21,25.64,9.92,33.85
$GC,616,1.82,439.9,2948,882,1655,4094,41.5,13.4,43,630,0.00,3.12,0.00,0.000,1030,0.000,0.132,2949,2056,1655,1655,4094,0,0,0,0,0,0,25.46,25.41,25.49,9.92,34.20
$GC,694,1.82,439.9,2949,2057,1653,4094,31.2,13.0,49,712,0.00,3.53,0.00,0.000,260,0.000,0.268,2949,3268,1653,1653,4094,0,0,0,0,0,0,25.84,25.41,25.85,9.92,33.97
$GC,764,1.82,439.9,2949,3269,1651,4094,20.9,15.0,54,778,0.00,3.10,0.00,0.000,1030,0.000,0.122,2949,2102,1650,1650,4094,0,0,0,0,0,0,25.68,25.63,25.70,9.92,34.13
$GC,841,1.82,439.9,2949,2102,1648,4094,10.6,12.8,60,856,0.00,3.45,0.00,0.000,516,0.000,0.253,2949,883,1648,1648,4094,0,0,0,0,0,0,26.01,25.58,26.02,9.92,34.95
$GC,884,1.82,439.9,2949,883,1647,4094,4.8,13.2,63,899,0.00,3.17,0.00,0.000,1030,0.000,0.137,2949,2088,1647,1647,4094,0,0,0,0,0,0,25.77,25.72,25.82,9.92,35.23
$STATE,913,end climb,FINISH_DEPTH_REACHED
$STATE,913,begin subsurface finish
$FINISH1,0.7,1.025251,-158
$GC,918,-0.25,-157.5,2949,2089,1646,4094,0.7,13.6,65,939,6.80,3.62,-6.75,0.000,20740,0.107,4.216,2306,3271,2362,2362,4094,0,0,0,0,0,0,25.82,24.30,25.84,9.93,34.87
$FINISH2,0.1
$STATE,940,end subsurface finish,CONTROL_FINISHED_OK
$STATE,940,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,222756
$TT8_MAMPS,0.026215,0.260652
$HUMID,34.87
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,23.49,20.647
$10V_AH,8.73,12.955
$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,39.575,43.550,53.075,0.000,0.000,26.143,19.457,167.794,0.500,0.000,22.274,250.646,0.000,99.049,869.357,52.572,33.445,363.396,0.000,643.317,0.000,7.455,0.000
$DEVICE_MAMPS,419.627,4216.134,4442.087,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.603,84.501,141.906,358.262,617.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344532
$DATA_FILE_SIZE,7461,66
$CAP_FILE_SIZE,25407,5
$CFSIZE,1024409600,1008189440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,231520,5709.967,-16448.527,4,0.7,21,11.1,1.9,63.5,10,5.0