version: 66.12
glider: 401
mission: 14
dive: 2
start: 2 13 117 20 54 2
data:
$ID,401
$MISSION,14
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,60
$D_ABORT,220
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$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,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74191
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0020000001
$HD_B,0.017689999
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,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,3350
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$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,15
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2834
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,0
$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,-50.876999
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$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
$GPS1,130217,204917,4742.7305,-12224.9541,2,0.9,37,16.3,0.0,0.0,9,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-42.4
$GPS2,130217,205306,4742.7188,-12224.9502,4,1.0,49,16.3,0.6,46.6,8,3.6
$SPEED_LIMITS,0.119,0.196
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.013760,0.195972
$KALMAN_X,1.475176,1.475176,1.475176,20.527155,2.673294
$KALMAN_Y,3.998104,3.998104,3.998104,238.972153,7.245314
$MHEAD_RNG_PITCHd_Wd,347.7,2380,-18.8,-10.000,-26.98,2213
$D_GRID,185
$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,-1.52,-146.6,231,2365,1862,4094,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,16390,0.000,0.000,231,2365,3010,3010,4095,0,0,0,0,0,0,26.82,24.90,26.84,9.42,37.28
$GC,27,-1.52,-146.6,232,2365,3009,4094,0.9,0.0,1,63,30.95,0.88,0.00,0.000,2564,0.111,0.029,2855,1992,3010,3010,4094,0,0,0,0,0,0,26.31,26.47,26.44,9.65,37.75
$GC,256,-1.52,-146.6,2854,1992,3013,4095,14.5,-4.5,39,263,0.00,0.88,0.00,0.000,1030,0.000,0.047,2855,2336,3013,3013,4095,0,0,0,0,0,0,26.50,26.45,26.54,9.65,37.24
$GC,293,-1.52,-146.6,2855,2336,3013,4095,16.2,-4.4,45,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3013,3013,4094,0,0,0,0,0,0,26.86,26.88,26.87,9.65,37.87
$GC,330,-1.52,-146.6,2854,2336,3013,4095,17.8,-4.6,51,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3013,3013,4094,0,0,0,0,0,0,26.87,26.89,26.89,9.65,37.16
$GC,367,-1.52,-146.6,2854,2337,3014,4094,19.5,-4.5,57,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3014,3014,4094,0,0,0,0,0,0,26.88,26.90,26.89,9.65,37.36
$GC,403,-1.52,-146.6,2854,2336,3014,4095,21.2,-4.7,63,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3014,3014,4094,0,0,0,0,0,0,26.89,26.91,26.91,9.65,37.32
$GC,440,-1.52,-146.6,2854,2336,3014,4094,23.0,-5.1,69,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3015,3015,4094,0,0,0,0,0,0,26.90,26.92,26.91,9.65,37.00
$GC,477,-1.52,-146.6,2854,2336,3015,4094,24.9,-5.3,75,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3015,3015,4095,0,0,0,0,0,0,26.91,26.93,26.92,9.65,37.08
$GC,513,-1.52,-146.6,2854,2336,3015,4094,27.0,-6.0,81,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3016,3016,4095,0,0,0,0,0,0,26.92,26.94,26.94,9.65,36.88
$GC,550,-1.52,-146.6,2854,2336,3016,4095,29.3,-6.0,87,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3015,3015,4095,0,0,0,0,0,0,26.93,26.94,26.94,9.65,37.16
$GC,587,-1.52,-146.6,2854,2336,3016,4095,31.4,-5.7,93,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2336,3016,3016,4094,0,0,0,0,0,0,26.94,26.95,26.95,9.65,37.00
$GC,624,-1.52,-146.6,2855,2336,3016,4094,33.5,-5.9,99,630,0.00,0.77,0.00,0.000,516,0.000,0.030,2855,1997,3017,3017,4095,0,0,0,0,0,0,26.94,26.65,26.96,9.65,36.80
$GC,859,-1.52,-146.6,2854,1997,3019,4095,46.8,-5.0,138,866,0.00,0.90,0.00,0.000,1030,0.000,0.047,2855,2350,3019,3019,4094,0,0,0,0,0,0,26.64,26.56,26.65,9.65,36.96
$GC,896,-1.52,-146.6,2854,2350,3020,4095,48.7,-5.2,144,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2350,3020,3020,4094,0,0,0,0,0,0,26.99,27.01,27.01,9.65,37.12
$STATE,909,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,909,begin apogee
$GC,912,-0.33,0.0,2855,2350,3020,4095,49.3,-5.1,146,930,4.03,0.00,10.07,0.937,10246,0.063,0.000,3235,2350,2833,2833,4094,0,0,0,0,0,0,26.55,26.20,25.30,9.65,37.04
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,932,begin climb
$GC,933,1.52,146.6,3234,2350,2832,4095,49.8,0.0,149,951,4.62,0.00,9.27,0.912,10246,0.043,0.000,3688,2350,2662,2662,4094,0,0,0,0,0,0,26.46,25.99,25.14,9.61,36.96
$GC,982,1.66,224.4,3687,2350,2661,4094,47.3,6.4,157,994,0.00,0.00,5.88,0.750,10246,0.000,0.000,3688,2350,2569,2569,4095,0,0,0,0,0,0,26.63,25.75,25.15,9.57,36.53
$GC,1025,1.73,262.1,3687,2350,2569,4094,43.9,8.3,164,1032,0.00,0.00,3.78,0.525,10246,0.000,0.000,3688,2350,2526,2526,4094,0,0,0,0,0,0,26.60,26.01,25.18,9.56,36.69
$GC,1062,1.78,289.8,3687,2350,2525,4094,40.5,8.7,170,1069,0.00,0.00,3.25,0.421,10246,0.000,0.000,3688,2349,2494,2494,4094,0,0,0,0,0,0,26.54,26.03,25.21,9.55,36.25
$GC,1100,1.83,321.4,3687,2350,2494,4094,37.2,8.5,176,1107,0.00,0.00,3.47,0.451,10246,0.000,0.000,3688,2350,2457,2457,4094,0,0,0,0,0,0,26.61,26.03,25.23,9.54,36.25
$GC,1138,1.90,358.5,3687,2350,2457,4094,34.1,8.3,182,1145,0.00,0.00,3.72,0.474,10246,0.000,0.000,3688,2350,2413,2413,4095,0,0,0,0,0,0,26.61,26.03,25.25,9.54,36.33
$GC,1175,1.97,397.2,3687,2350,2413,4094,31.0,8.2,188,1182,0.00,0.00,3.80,0.471,10246,0.000,0.000,3688,2350,2369,2369,4094,0,0,0,0,0,0,26.61,26.03,25.27,9.53,36.29
$GC,1213,2.08,461.0,3687,2350,2368,4094,28.3,7.1,194,1226,0.00,0.82,5.03,0.565,10500,0.000,0.070,3688,2669,2295,2295,4094,0,0,1,0,0,0,26.60,26.07,25.28,9.52,36.21
$GC,1281,2.19,522.1,3687,2669,2294,4094,23.5,7.2,205,1294,0.00,0.77,5.00,0.539,11270,0.000,0.039,3688,2346,2221,2221,4094,0,0,0,0,0,0,26.36,26.32,25.32,9.51,36.45
$GC,1325,2.33,599.0,3687,2346,2221,4094,20.5,6.4,212,1337,0.00,0.00,5.60,0.554,10246,0.000,0.000,3688,2346,2134,2134,4094,0,0,0,0,0,0,26.60,26.01,25.32,9.49,36.10
$GC,1368,2.48,683.4,3687,2346,2134,4094,17.9,6.1,219,1381,0.00,0.00,6.00,0.555,10246,0.000,0.000,3688,2346,2036,2036,4094,0,0,0,0,0,0,26.57,25.79,25.31,9.47,35.82
$GC,1412,2.68,790.5,3687,2346,2035,4094,15.6,5.0,226,1424,0.00,0.00,7.10,0.575,10246,0.000,0.000,3688,2346,1911,1911,4094,0,0,0,0,0,0,26.53,25.76,25.32,9.46,36.41
$GC,1455,2.88,904.2,3687,2346,1910,4094,13.5,4.7,233,1468,0.00,0.00,7.45,0.566,10246,0.000,0.000,3688,2346,1777,1777,4094,0,0,0,0,0,0,26.51,25.91,25.27,9.43,36.06
$GC,1498,2.88,904.2,3687,2346,1776,4094,9.8,11.0,240,1504,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2346,1776,1776,4094,0,0,0,0,0,0,26.47,26.48,26.48,9.40,36.02
$GC,1535,2.88,904.2,3687,2346,1775,4095,4.2,15.0,246,1541,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2346,1775,1775,4094,0,0,0,0,0,0,26.53,26.53,26.53,9.41,35.70
$STATE,1552,end climb,SURFACE_DEPTH_REACHED
$STATE,1552,begin surface coast
$FINISH,0.1,1.022710
$STATE,1565,end surface coast,CONTROL_FINISHED_OK
$STATE,1565,begin surface
$SM_CCo,1667,0.00,0.000,0,0,1773,910.97
$SM_GC,0.73,35.72,0.00,0.00,0.028,0.000,0.000,231,2346,1773,-9.75,-0.18,910.97,0,0,0,0,0,0,25.77,26.56,26.10
$IRIDIUM_FIX,4748.51,-12337.82,130217,204454
$TT8_MAMPS,0.025466,0.453894
$HUMID,36.25
$INTERNAL_PRESSURE,9.31056
$TCM_TEMP,8.50
$XPDR_PINGS,11
$24V_AH,24.90,2.437
$10V_AH,9.59,2.246
$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,75.325,5.025,79.425,0.000,0.000,0.000,0.000,0.000,2.750,0.000,51.139,624.602,464.509,200.242,465.877,18.910,30.292,478.908,0.000,370.591,0.000,1.136,0.000
$DEVICE_MAMPS,110.925,69.615,937.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,284.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322276
$DATA_FILE_SIZE,17731,251
$CAP_FILE_SIZE,61178,0
$CFSIZE,1024409600,1018347520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,59
$GPS,130217,212308,4742.904,-12224.986,2,0.9,47,16.3,0.0,0.0,8,3.9