version: 66.13
glider: 401
mission: 22
dive: 2
start: 7 26 117 17 0 43
data:
$ID,401
$MISSION,22
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,60
$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,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$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,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$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
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2551
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$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,2140
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$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,-50.9827
$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,40
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$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,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,260717,165605,5915.4639,-17025.7383,4,0.8,15,8.6,0.3,32.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-37.2
$GPS2,260717,165939,5915.4810,-17025.7617,7,0.9,16,8.6,0.0,0.0,9,4.7
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.274414,0.149784
$KALMAN_X,-11.230681,-11.230681,-11.230681,-220.888794,-23.422222
$KALMAN_Y,37.376633,37.376633,37.376633,191.452087,77.951080
$MHEAD_RNG_PITCHd_Wd,290.0,33414,-14.6,-10.000,-17.74,4419
$D_GRID,60
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.59,-292.5,238,2153,1596,4092,0.0,0.0,0,19,0.00,0.00,-5.50,0.000,16390,0.000,0.000,238,2154,2293,2293,4094,0,0,0,0,0,0,26.52,25.63,26.53,10.26,47.28
$GC,22,-1.59,-292.5,238,2153,2293,4094,0.8,0.0,1,48,21.55,0.00,0.00,0.000,2310,0.109,0.000,2034,2154,2293,2293,4094,0,0,0,0,0,0,26.01,26.15,26.12,10.40,47.36
$GC,85,-1.59,-292.5,2033,2153,2293,4094,0.0,1.5,9,94,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2154,2293,2293,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.41,47.12
$GC,131,-1.59,-292.5,2033,2153,2293,4094,0.0,0.2,15,141,0.00,3.25,0.00,0.000,516,0.000,0.067,2034,959,2293,2293,4094,0,0,0,0,0,0,26.46,26.03,26.46,10.40,47.20
$GC,178,-1.59,-292.5,2033,958,2293,4094,0.1,-0.1,21,187,0.00,2.92,0.00,0.000,1030,0.000,0.034,2034,2122,2293,2293,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.40,47.00
$GC,224,-1.59,-292.5,2033,2121,2293,4095,0.1,0.0,27,233,0.00,3.17,0.00,0.000,516,0.000,0.071,2034,960,2293,2293,4094,0,0,0,0,0,0,26.52,26.06,26.53,10.41,46.96
$GC,243,-1.59,-292.5,2033,960,2293,4094,0.1,-0.4,29,252,0.00,2.95,0.00,0.000,1030,0.000,0.034,2034,2132,2293,2293,4094,0,0,0,0,0,0,26.26,26.22,26.29,10.41,47.08
$GC,288,-1.59,-292.5,2033,2136,2293,4094,0.0,0.1,35,298,0.00,3.20,0.00,0.000,516,0.000,0.070,2034,963,2293,2293,4094,0,0,0,0,0,0,26.55,26.08,26.56,10.41,46.53
$GC,549,-1.59,-292.5,2033,962,2293,4094,0.0,0.0,74,559,0.00,2.90,0.00,0.000,1030,0.000,0.034,2034,2120,2293,2293,4095,0,0,0,0,0,0,26.41,26.36,26.43,10.40,47.00
$GC,596,-1.59,-292.5,2034,2120,2293,4095,0.1,-0.1,80,605,0.00,3.15,0.00,0.000,516,0.000,0.069,2034,956,2293,2293,4094,0,0,0,0,0,0,26.69,26.22,26.70,10.40,47.04
$GC,680,-1.59,-292.5,2034,956,2293,4094,0.1,0.0,92,690,0.00,2.88,0.00,0.000,1030,0.000,0.035,2033,2110,2293,2293,4095,0,0,0,0,0,0,26.43,26.39,26.46,10.41,46.85
$GC,726,-1.59,-292.5,2033,2110,2294,4095,0.1,-0.6,98,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2111,2293,2293,4094,0,0,0,0,0,0,26.73,26.74,26.74,10.41,46.92
$GC,770,-1.59,-292.5,2033,2108,2293,4094,0.1,-0.2,104,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2109,2293,2293,4094,0,0,0,0,0,0,26.74,26.76,26.75,10.40,47.08
$GC,816,-1.59,-292.5,2033,2108,2293,4094,0.1,-0.2,110,825,0.00,3.08,0.00,0.000,516,0.000,0.070,2034,965,2293,2293,4094,0,0,0,0,0,0,26.75,26.30,26.77,10.41,46.57
$STATE,912,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,912,begin apogee
$GC,919,-0.39,0.0,2034,2033,2293,4094,0.0,0.2,124,929,3.97,0.00,3.53,0.303,10242,0.044,0.000,2419,2042,2253,2253,4094,0,0,0,0,0,0,26.47,28.83,26.54,10.40,47.00
$STATE,930,end apogee,SURFACE_DEPTH_REACHED
$STATE,930,begin surface coast
$FINISH,0.0,0.999774
$STATE,1023,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1023,begin surface
$SM_CCo,1054,29.08,0.611,0,0,1597,300.51
$SM_GC,0.70,22.40,0.22,29.08,0.028,0.058,0.611,238,2150,1597,-7.20,-1.69,300.51,0,0,0,0,0,0,26.52,26.52,25.38
$IRIDIUM_FIX,5957.10,-16911.74,260717,165135
$TT8_MAMPS,0.025466,0.23968
$HUMID,45.98
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,7.90
$XPDR_PINGS,0
$24V_AH,24.94,0.289
$10V_AH,10.34,0.188
$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,47.925,30.375,3.525,29.075,0.000,0.000,0.000,0.000,0.000,0.000,17.792,408.272,0.000,124.742,600.824,33.917,30.292,308.132,0.000,337.895,0.000,1.013,0.000
$DEVICE_MAMPS,109.395,71.145,302.940,611.235,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.928,377.569,298.985,443.704,581.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329620
$DATA_FILE_SIZE,14451,139
$CAP_FILE_SIZE,40906,0
$CFSIZE,1024409600,1019396096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260717,171937,5915.586,-17025.811,4,0.8,14,8.6,0.6,51.9,9,4.9