version: 66.12
glider: 401
mission: 20
dive: 237
start: 5 2 117 9 15 29
data:
$ID,401
$MISSION,20
$DIVE,237
$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,4
$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,650
$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,195
$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,21
$R_STBD_OVSHOOT,18
$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,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
$GPS1,020517,085650,5707.2612,-16451.9863,4,0.9,34,11.1,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,2.6
$GPS2,020517,085650,5707.2612,-16451.9863,4,0.9,34,11.1,0.0,0.0,9,4.8
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.830,-16457.111
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.253831,-0.337642
$KALMAN_X,-12442.639648,-340.448120,-463.895538,66766.890625,246.329926
$KALMAN_Y,19897.552734,176.286240,183.889236,-33807.207031,185.976791
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-8.9,-9.667,-12.86,9731
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.90,-635.4,2318,2157,2368,4094,0.0,0.0,0,32,0.00,0.00,-2.45,0.000,16390,0.000,0.000,2318,2157,2928,2928,4095,0,0,0,0,0,0,25.82,24.37,25.81,10.07,35.74
$GC,34,-1.90,-635.4,2318,2157,2928,4094,6.3,0.0,1,53,5.95,3.33,0.00,0.000,4612,0.139,0.216,1776,981,2929,2929,4095,0,0,0,0,0,0,25.29,25.17,25.32,10.20,35.86
$GC,128,-1.90,-635.4,1776,981,2930,4095,18.5,-13.1,8,142,0.00,3.17,0.00,0.000,1030,0.000,0.142,1776,2164,2930,2930,4095,0,0,0,0,0,0,25.48,25.42,25.54,10.19,35.31
$GC,206,-1.90,-635.4,1776,2164,2932,4095,29.2,-14.4,14,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2164,2933,2933,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.19,35.74
$GC,282,-1.90,-635.4,1776,2164,2934,4094,39.2,-13.1,20,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2164,2934,2934,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.19,35.39
$GC,363,-1.90,-635.4,1776,2164,2936,4095,50.1,-13.9,26,377,0.00,3.33,0.00,0.000,516,0.000,0.223,1776,976,2936,2936,4094,0,0,0,0,0,0,26.03,25.60,26.04,10.18,35.07
$GC,406,-1.90,-635.4,1776,976,2937,4095,56.5,-14.2,29,421,0.00,3.05,0.00,0.000,1030,0.000,0.134,1776,2133,2937,2937,4094,0,0,0,0,0,0,25.81,25.76,25.84,10.18,35.39
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,441,-0.50,0.0,1776,2053,2938,4095,60.6,-13.6,31,488,4.88,0.00,37.53,4.524,10244,0.219,0.000,2209,2053,2174,2174,4094,0,0,0,0,0,0,25.76,24.68,23.58,10.18,34.83
$STATE,489,end apogee,CONTROL_FINISHED_OK
$STATE,489,begin climb
$GC,491,1.90,635.4,2209,2053,2174,4094,64.1,0.0,34,545,8.50,0.00,37.00,4.412,11270,0.139,0.000,2973,2053,1431,1431,4094,0,0,0,0,0,0,25.03,25.17,23.23,10.02,34.60
$GC,609,1.90,635.4,2972,2053,1429,4094,52.7,14.2,42,627,0.00,3.35,0.00,0.000,516,0.000,0.243,2973,907,1429,1429,4094,0,0,0,0,0,0,25.23,24.84,25.25,9.87,33.81
$GC,644,1.90,635.4,2972,907,1428,4094,48.3,13.2,44,659,0.00,3.12,0.00,0.000,1030,0.000,0.129,2973,2066,1428,1428,4094,0,0,0,0,0,0,25.10,25.06,25.14,9.88,33.85
$GC,722,1.90,635.4,2972,2066,1426,4094,37.8,13.9,50,741,0.00,3.55,0.00,0.000,260,0.000,0.276,2973,3266,1426,1426,4094,0,0,0,0,0,0,25.54,25.12,25.55,9.87,34.01
$GC,780,1.90,635.4,2973,3266,1424,4094,29.4,14.8,54,794,0.00,3.12,0.00,0.000,1030,0.000,0.122,2973,2105,1424,1424,4094,0,0,0,0,0,0,25.41,25.36,25.43,9.87,34.17
$GC,857,1.90,635.4,2973,2105,1422,4094,19.0,13.1,60,872,0.00,3.50,0.00,0.000,516,0.000,0.256,2973,881,1421,1421,4094,0,0,0,0,0,0,25.76,25.33,25.77,9.87,34.60
$GC,912,1.90,635.4,2973,881,1421,4094,12.3,12.1,64,926,0.00,3.15,0.00,0.000,1030,0.000,0.132,2973,2068,1420,1420,4094,0,0,0,0,0,0,25.57,25.51,25.59,9.88,34.44
$GC,990,1.90,635.4,2973,2068,1418,4094,2.6,13.0,70,1008,0.00,3.55,0.00,0.000,260,0.000,0.298,2973,3272,1418,1418,4094,0,0,0,0,0,0,25.91,25.45,25.93,9.88,34.83
$STATE,1024,end climb,SURFACE_DEPTH_REACHED
$STATE,1024,begin surface coast
$FINISH,0.0,1.025272
$STATE,1063,end surface coast,CONTROL_FINISHED_OK
$STATE,1063,begin surface
$SM_CCo,1162,0.00,0.000,0,0,1418,649.96
$SM_GC,0.90,29.23,2.92,0.00,0.094,0.122,0.000,231,2174,1418,-6.71,1.14,649.96,0,0,1,0,0,0,25.39,25.70,25.65
$IRIDIUM_FIX,5554.28,-16557.83,020517,080851
$TT8_MAMPS,0.026964,0.24717
$HUMID,34.87
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,9.5
$24V_AH,23.23,23.152
$10V_AH,8.72,13.707
$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,48.550,42.225,74.525,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,273.290,59.635,139.441,720.278,28.093,33.416,408.962,0.000,732.798,0.000,5.446,0.000
$DEVICE_MAMPS,218.504,297.960,4524.026,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.968,96.130,161.244,412.818,708.630,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,7353,75
$CAP_FILE_SIZE,23245,8
$CFSIZE,1024409600,1006862336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,093543,5707.080,-16451.330,2,0.8,19,11.1,0.0,0.0,11,4.7