version: 66.12
glider: 401
mission: 20
dive: 270
start: 5 2 117 21 26 4
data:
$ID,401
$MISSION,20
$DIVE,270
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$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,600
$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,9
$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,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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,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
$GPS1,020517,211954,5701.1221,-16451.0352,1,0.7,15,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-35.6
$GPS2,020517,212501,5701.1538,-16451.0273,4,0.8,19,11.1,0.0,0.0,10,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5650.723,-16456.137
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.186501,-0.366196
$KALMAN_X,-8084.123535,141.507904,-836.814209,63259.117188,154.143555
$KALMAN_Y,22005.017578,-330.593597,464.126617,-46997.246094,176.505280
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-9.4,-9.667,-13.26,9003
$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,-1.98,-586.5,231,2175,1476,4094,0.0,0.0,0,37,0.00,0.00,-12.23,0.000,16390,0.000,0.000,231,2175,2863,2863,4094,0,0,0,0,0,0,26.03,25.18,26.04,9.91,36.21
$GC,39,-1.98,-586.5,231,2175,2863,4094,0.8,0.0,1,72,19.38,2.15,0.00,0.000,2308,0.422,0.256,1734,2923,2867,2867,4095,0,0,0,0,0,0,25.42,25.44,25.51,10.19,36.96
$GC,194,-1.98,-586.5,1734,2923,2870,4094,38.5,-14.5,13,209,0.00,1.88,0.00,0.000,1030,0.000,0.107,1735,2190,2870,2870,4095,0,0,0,0,0,0,25.81,25.78,25.83,10.18,36.02
$GC,275,-1.98,-586.5,1735,2189,2873,4095,50.5,-16.0,19,290,0.00,2.05,0.00,0.000,516,0.000,0.164,1735,1420,2873,2873,4094,0,0,0,0,0,0,26.10,25.75,26.11,10.18,35.66
$STATE,317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,317,begin apogee
$GC,323,-0.56,0.0,1735,2076,2874,4095,58.2,-16.6,22,375,5.20,0.00,34.25,4.462,10244,0.231,0.000,2193,2077,2173,2173,4094,0,0,0,0,0,0,25.82,24.48,23.67,10.18,35.62
$STATE,376,end apogee,CONTROL_FINISHED_OK
$STATE,376,begin climb
$GC,378,1.98,586.5,2193,2076,2173,4094,62.9,0.0,25,433,8.75,2.15,33.53,4.365,10500,0.129,0.219,2996,2830,1493,1493,4094,0,0,0,0,0,0,25.09,25.03,23.36,10.03,35.23
$GC,450,1.98,586.5,2996,2831,1492,4094,58.2,9.8,29,468,0.00,2.00,0.00,0.000,1030,0.000,0.104,2997,2090,1492,1492,4094,0,0,0,0,0,0,24.91,24.87,24.94,9.90,34.99
$GC,532,1.98,586.5,2996,2089,1489,4094,45.9,14.4,35,550,0.00,2.15,0.00,0.000,516,0.000,0.209,2997,1315,1489,1489,4094,0,0,0,0,0,0,25.48,25.12,25.49,9.90,34.48
$GC,614,1.98,586.5,2996,1315,1487,4094,33.5,15.1,41,629,0.00,1.98,0.00,0.000,1030,0.000,0.117,2997,2072,1487,1487,4094,0,0,0,0,0,0,25.42,25.37,25.45,9.89,34.60
$GC,692,1.98,586.5,2996,2072,1485,4094,21.9,14.8,47,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2072,1484,1484,4094,0,0,0,0,0,0,25.79,25.81,25.81,9.90,34.76
$GC,770,1.98,586.5,2996,2072,1482,4094,11.1,13.7,53,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2072,1482,1482,4094,0,0,0,0,0,0,25.90,25.91,25.91,9.90,35.90
$STATE,822,end climb,FINISH_DEPTH_REACHED
$STATE,822,begin subsurface finish
$FINISH1,3.2,1.025176,-152
$GC,828,-0.24,-152.3,2997,2071,1480,4094,3.2,14.6,57,848,7.78,0.00,-7.93,0.000,20486,0.251,0.000,2324,2073,2357,2357,4094,0,0,0,0,0,0,25.64,24.51,25.67,9.90,35.19
$FINISH2,0.9
$STATE,848,end subsurface finish,CONTROL_FINISHED_OK
$STATE,849,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,203914
$TT8_MAMPS,0.026964,0.257656
$HUMID,36.49
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.5
$24V_AH,23.36,27.162
$10V_AH,8.70,14.595
$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,41.100,16.025,67.775,0.000,0.000,23.652,17.940,162.076,0.500,0.000,20.646,223.093,0.000,102.901,794.599,59.621,33.445,338.007,0.000,576.640,0.000,8.691,0.000
$DEVICE_MAMPS,422.110,255.749,4461.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,39.307,74.282,124.693,324.546,552.522,0.000,0.000,0.000,0.000,0.000
$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,3866,58
$CAP_FILE_SIZE,22302,11
$CFSIZE,1024409600,1005240320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,212501,5701.154,-16451.027,4,0.8,19,11.1,0.0,0.0,10,4.8