version: 66.12
glider: 401
mission: 20
dive: 334
start: 5 3 117 20 9 33
data:
$ID,401
$MISSION,20
$DIVE,334
$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,500
$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,100
$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,1821.9492
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,030517,195826,5650.9028,-16453.9668,3,0.9,18,11.1,0.0,0.0,9,5.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-41.3
$GPS2,030517,200830,5650.9365,-16454.0566,5,0.8,22,11.1,0.6,296.4,10,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.062,-16434.625
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.238519,-0.297370
$KALMAN_X,-7287.302734,194.734482,-322.698059,58862.496094,-123.225708
$KALMAN_Y,27484.941406,-1756.733276,-505.538055,-69009.500000,327.837372
$MHEAD_RNG_PITCHd_Wd,88.9,20000,-10.5,-9.667,-14.22,7537
$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,13,begin dive
$GC,15,-1.95,-488.8,231,2185,1591,4094,0.0,0.0,0,36,0.00,0.00,-10.20,0.000,16390,0.000,0.000,231,2185,2746,2746,4095,0,0,0,0,0,0,26.29,25.41,26.30,9.92,36.96
$GC,39,-1.95,-488.8,230,2186,2747,4094,0.8,0.0,1,71,19.42,2.03,0.00,0.000,2564,0.427,0.139,1744,1411,2750,2750,4094,0,0,0,0,0,0,25.63,25.68,25.70,10.16,36.61
$GC,251,-1.95,-488.8,1744,1411,2756,4094,46.5,-15.4,18,270,0.00,1.92,0.00,0.000,1030,0.000,0.124,1744,2160,2756,2756,4095,0,0,0,0,0,0,25.95,25.90,25.98,10.16,36.13
$STATE,325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,325,begin apogee
$GC,330,-0.56,0.0,1744,2051,2758,4095,58.1,-15.7,23,369,5.00,0.08,28.90,4.417,10246,0.221,0.372,2189,2093,2174,2174,4094,0,0,0,0,0,0,25.92,25.01,23.84,10.17,35.94
$STATE,370,end apogee,CONTROL_FINISHED_OK
$STATE,370,begin climb
$GC,372,1.95,488.8,2189,2093,2174,4094,62.2,0.0,25,423,8.70,0.00,28.73,4.320,10246,0.129,0.000,2984,2093,1603,1603,4094,0,0,0,0,0,0,25.34,24.25,23.51,10.04,36.02
$GC,487,1.95,488.8,2984,2093,1601,4094,50.8,15.4,33,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2093,1601,1601,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.93,35.03
$GC,568,1.95,488.8,2983,2093,1598,4094,37.9,16.0,39,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2093,1598,1598,4094,0,0,0,0,0,0,25.73,25.75,25.74,9.93,35.43
$GC,649,1.95,488.8,2984,2093,1595,4094,25.2,15.3,45,664,0.00,2.03,0.00,0.000,260,0.000,0.216,2985,2814,1595,1595,4094,0,0,0,0,0,0,25.86,25.48,25.88,9.93,35.19
$GC,693,1.95,488.8,2984,2814,1594,4094,18.8,15.2,48,707,0.00,1.88,0.00,0.000,1030,0.000,0.104,2985,2094,1594,1594,4094,0,0,0,0,0,0,25.67,25.63,25.70,9.93,35.27
$GC,771,1.95,488.8,2984,2091,1591,4094,7.5,13.6,54,790,0.00,2.08,0.00,0.000,516,0.000,0.174,2985,1319,1591,1591,4094,0,0,0,0,0,0,26.01,25.69,26.03,9.92,35.43
$STATE,804,end climb,FINISH_DEPTH_REACHED
$STATE,804,begin subsurface finish
$FINISH1,3.1,1.025174,-152
$GC,812,-0.24,-152.2,2984,2069,1589,4094,3.1,13.3,56,831,7.45,0.00,-6.60,0.000,20486,0.209,0.000,2321,2069,2358,2358,4095,0,0,0,0,0,0,25.75,24.55,25.81,9.93,35.31
$FINISH2,0.6
$STATE,832,end subsurface finish,CONTROL_FINISHED_OK
$STATE,832,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,200526
$TT8_MAMPS,0.026215,0.255409
$HUMID,35.58
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,52.0,9.4
$24V_AH,23.51,33.153
$10V_AH,8.69,16.279
$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,40.575,12.125,57.625,0.000,0.000,129.445,118.783,0.000,0.750,0.000,23.400,219.484,240.335,97.742,835.490,66.754,33.463,313.369,0.000,568.023,0.000,5.446,0.000
$DEVICE_MAMPS,427.076,372.450,4417.257,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,38.526,73.005,122.549,318.440,544.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,3887,57
$CAP_FILE_SIZE,21423,11
$CFSIZE,1024409600,1001963520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,200830,5650.937,-16454.057,5,0.8,22,11.1,0.6,296.4,10,4.9