version: 66.12
glider: 401
mission: 20
dive: 317
start: 5 3 117 14 4 10
data:
$ID,401
$MISSION,20
$DIVE,317
$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,20
$R_STBD_OVSHOOT,29
$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
$GPS1,030517,134708,5653.7896,-16452.5234,4,0.8,31,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,0.1
$GPS2,030517,134708,5653.7896,-16452.5234,4,0.8,31,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5643.358,-16457.617
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.342419,-0.226813
$KALMAN_X,-6034.203613,703.573792,1245.764282,57064.730469,277.740356
$KALMAN_Y,27442.972656,-1067.634399,-639.918396,-64240.050781,-231.897644
$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,-586.5,2321,2190,2356,4095,0.0,0.0,0,36,0.00,0.00,-2.45,0.000,16390,0.000,0.000,2321,2189,2871,2871,4094,0,0,0,0,0,0,26.03,24.46,26.01,10.08,35.74
$GC,39,-1.98,-586.5,2321,2190,2872,4095,5.0,0.0,1,58,6.25,2.12,0.00,0.000,4612,0.144,0.169,1752,1414,2872,2872,4094,0,0,0,0,0,0,25.42,25.29,25.45,10.19,35.90
$GC,73,-1.98,-586.5,1751,1413,2872,4094,9.7,-11.4,3,88,0.00,1.95,0.00,0.000,1030,0.000,0.122,1752,2159,2873,2873,4095,0,0,0,0,0,0,25.48,25.41,25.52,10.19,35.86
$GC,151,-1.98,-586.5,1751,2159,2875,4095,21.0,-15.9,9,165,0.00,2.20,0.00,0.000,260,0.000,0.258,1752,2922,2874,2874,4094,0,0,0,0,0,0,25.88,25.46,25.89,10.19,35.58
$GC,182,-1.98,-586.5,1751,2922,2875,4094,25.2,-14.7,11,196,0.00,2.03,0.00,0.000,1030,0.000,0.114,1752,2146,2875,2875,4095,0,0,0,0,0,0,25.69,25.66,25.73,10.18,35.58
$GC,260,-1.98,-586.5,1751,2143,2877,4095,37.0,-15.2,17,278,0.00,1.92,0.00,0.000,516,0.000,0.166,1752,1422,2877,2877,4094,0,0,0,0,0,0,26.01,25.65,26.03,10.18,35.39
$GC,307,-1.98,-586.5,1751,1422,2878,4095,44.1,-15.2,20,322,0.00,1.85,0.00,0.000,1030,0.000,0.129,1752,2133,2878,2878,4095,0,0,0,0,0,0,25.79,25.73,25.82,10.18,35.35
$GC,389,-1.98,-586.5,1751,2133,2880,4095,56.0,-14.7,26,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2133,2880,2880,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.19,35.23
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,426,-0.56,0.0,1752,2053,2881,4094,61.1,-14.8,28,481,5.00,0.05,34.30,4.527,10244,0.228,0.228,2192,2090,2179,2179,4094,0,0,0,0,0,0,25.82,24.45,23.62,10.19,35.50
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,484,1.98,586.5,2192,2090,2179,4094,65.1,0.0,31,541,8.93,0.00,34.60,4.455,11270,0.137,0.000,2994,2090,1491,1491,4094,0,0,0,0,0,0,25.20,25.37,23.30,10.04,35.62
$GC,605,1.98,586.5,2994,2090,1489,4094,53.2,14.2,40,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2090,1488,1488,4094,0,0,0,0,0,0,25.34,25.36,25.36,9.90,34.48
$GC,686,1.98,586.5,2994,2090,1486,4094,40.9,15.3,46,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2090,1486,1486,4094,0,0,0,0,0,0,25.57,25.58,25.58,9.89,34.52
$GC,767,1.98,586.5,2994,2090,1483,4094,28.0,15.9,52,782,0.00,2.08,0.00,0.000,260,0.000,0.211,2994,2824,1483,1483,4095,0,0,0,0,0,0,25.72,25.34,25.74,9.89,34.68
$GC,799,1.98,586.5,2994,2824,1482,4094,23.2,15.0,54,817,0.00,1.92,0.00,0.000,1030,0.000,0.107,2995,2091,1482,1482,4094,0,0,0,0,0,0,25.53,25.49,25.57,9.89,35.07
$GC,881,1.98,586.5,2994,2090,1480,4094,12.1,13.4,60,896,0.00,2.10,0.00,0.000,516,0.000,0.204,2995,1323,1479,1479,4094,0,0,0,0,0,0,25.88,25.50,25.89,9.90,35.31
$GC,924,1.98,586.5,2994,1323,1479,4094,5.8,14.9,63,942,0.00,1.95,0.00,0.000,1030,0.000,0.117,2994,2077,1478,1478,4094,0,0,0,0,0,0,25.66,25.63,25.69,9.90,35.27
$STATE,969,end climb,SURFACE_DEPTH_REACHED
$STATE,969,begin surface coast
$FINISH,0.1,1.025105
$STATE,996,end surface coast,CONTROL_FINISHED_OK
$STATE,996,begin surface
$SM_CCo,1095,0.00,0.000,0,0,1477,599.30
$SM_GC,0.93,29.48,0.22,0.00,0.087,0.211,0.000,232,2178,1477,-6.71,-0.82,599.30,0,0,1,0,0,0,25.45,25.72,25.67
$IRIDIUM_FIX,5554.28,-16557.83,030517,130113
$TT8_MAMPS,0.026215,0.257656
$HUMID,35.43
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,9.5
$24V_AH,23.30,31.662
$10V_AH,8.63,15.834
$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,49.650,20.775,68.900,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,256.987,60.579,147.236,655.566,31.263,33.418,424.633,0.000,667.017,0.000,5.446,0.000
$DEVICE_MAMPS,228.436,258.232,4526.509,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.850,87.042,146.231,373.647,643.321,0.000,0.000,0.000,0.000,0.000
$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,7434,68
$CAP_FILE_SIZE,23208,11
$CFSIZE,1024409600,1002930176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,142318,5653.156,-16452.510,2,0.7,19,11.1,0.6,272.5,11,5.0