version: 66.12
glider: 401
mission: 17
dive: 2
start: 2 22 117 21 20 18
data:
$ID,401
$MISSION,17
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74518
$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,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,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,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$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,2212
$C_ROLL_CLIMB,2212
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,1900
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0020000001
$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,-51.172127
$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,20
$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,-1
$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,2.9363699
$GPS1,220217,211544,4742.6719,-12224.5088,2,1.1,27,16.3,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.0
$GPS2,220217,211920,4742.6787,-12224.4678,5,1.1,24,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.225
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.086268,0.207623
$KALMAN_X,58.815861,58.815861,58.815861,25.312737,124.988388
$KALMAN_Y,-90.610878,-90.610878,-90.610878,312.685394,-192.555359
$MHEAD_RNG_PITCHd_Wd,321.1,2482,-15.0,-10.000,-23.98,2935
$D_GRID,167
$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,15,-1.14,-195.5,230,2219,1096,4094,0.0,0.0,0,33,0.00,0.00,-7.47,0.000,16390,0.000,0.000,231,2219,2132,2132,4094,0,0,0,0,0,0,26.51,25.56,26.53,9.72,35.11
$GC,35,-1.14,-195.5,230,2219,2133,4094,1.1,0.0,1,78,32.40,3.28,0.00,0.000,2564,0.134,0.063,2772,1021,2136,2136,4094,0,0,0,0,0,0,25.79,25.77,25.86,9.94,34.87
$GC,278,-1.14,-195.5,2771,1022,2141,4094,36.5,-10.6,21,292,0.00,3.08,0.00,0.000,1030,0.000,0.041,2772,2209,2141,2141,4094,0,0,0,0,0,0,26.05,26.00,26.10,9.95,34.56
$GC,353,-1.14,-195.5,2771,2209,2143,4094,44.6,-10.7,27,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2209,2143,2143,4094,0,0,0,0,0,0,26.46,26.47,26.46,9.96,34.48
$GC,427,-1.14,-195.5,2771,2209,2145,4094,51.8,-9.4,33,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2209,2145,2145,4095,0,0,0,0,0,0,26.49,26.51,26.51,9.95,34.32
$GC,501,-1.14,-195.5,2771,2208,2146,4094,58.3,-8.9,39,516,0.00,3.20,0.00,0.000,516,0.000,0.064,2772,1027,2146,2146,4094,0,0,0,0,0,0,26.53,25.97,26.54,9.96,34.72
$GC,553,-1.14,-195.5,2771,1027,2147,4094,63.2,-9.4,43,567,0.00,3.05,0.00,0.000,1030,0.000,0.041,2772,2208,2147,2147,4094,0,0,0,0,0,0,26.15,26.10,26.20,9.96,34.09
$GC,628,-1.14,-195.5,2771,2208,2149,4094,70.1,-9.0,49,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2207,2149,2149,4095,0,0,0,0,0,0,26.57,26.59,26.58,9.96,34.83
$GC,702,-1.14,-195.5,2771,2207,2150,4094,77.0,-9.5,55,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2208,2150,2150,4094,0,0,0,0,0,0,26.60,26.61,26.61,9.96,34.05
$GC,777,-1.14,-195.5,2771,2208,2152,4094,83.7,-8.9,61,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2208,2152,2152,4094,0,0,0,0,0,0,26.62,26.64,26.63,9.96,34.64
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,850,begin apogee
$GC,853,-0.25,0.0,2772,2208,2154,4094,90.3,-9.1,67,882,3.17,0.00,13.82,1.407,10246,0.075,0.000,3058,2208,1898,1898,4094,0,0,0,0,0,0,26.16,25.34,24.52,9.96,34.09
$STATE,883,end apogee,CONTROL_FINISHED_OK
$STATE,883,begin climb
$GC,884,1.14,195.5,3058,2208,1898,4095,92.5,0.0,69,912,4.72,0.00,12.45,1.377,10246,0.057,0.000,3494,2208,1673,1673,4094,0,0,0,0,0,0,25.91,25.07,24.22,9.91,34.05
$GC,972,1.49,368.7,3493,2208,1672,4094,90.3,4.0,76,988,1.12,0.00,11.50,1.322,10246,0.030,0.000,3608,2208,1469,1469,4094,0,0,0,0,0,0,25.82,25.22,24.15,9.87,33.97
$GC,1048,1.69,469.3,3607,2208,1467,4095,85.8,6.5,82,1064,0.60,0.00,7.35,1.131,10246,0.034,0.000,3674,2208,1353,1353,4094,0,0,0,0,0,0,25.72,25.01,24.22,9.83,33.89
$GC,1124,1.80,524.7,3674,2208,1351,4094,79.9,8.1,88,1138,0.00,0.00,4.95,0.894,10246,0.000,0.000,3674,2208,1287,1287,4094,0,0,0,0,0,0,25.99,25.12,24.37,9.81,34.32
$GC,1199,1.94,592.2,3674,2208,1286,4094,74.0,7.6,94,1213,0.00,0.00,5.55,0.922,10246,0.000,0.000,3674,2208,1209,1209,4094,0,0,0,0,0,0,26.06,25.18,24.44,9.79,33.89
$GC,1274,2.12,681.7,3673,2208,1207,4094,68.6,6.9,100,1288,0.00,0.00,6.80,0.975,10246,0.000,0.000,3674,2208,1102,1102,4094,0,0,0,0,0,0,26.08,25.20,24.49,9.77,33.77
$GC,1349,2.35,796.9,3674,2208,1101,4094,64.0,6.0,106,1363,0.00,0.00,8.02,1.000,10246,0.000,0.000,3674,2208,969,969,4094,0,0,0,0,0,0,26.08,25.18,24.50,9.75,33.85
$GC,1424,2.59,918.0,3674,2208,968,4094,59.6,5.8,112,1438,0.00,0.00,8.30,0.972,10246,0.000,0.000,3674,2208,828,828,4094,0,0,0,0,0,0,26.06,25.16,24.51,9.72,33.97
$GC,1498,2.59,918.0,3674,2208,826,4094,50.7,14.6,118,1513,0.10,3.28,0.00,0.000,2564,0.089,0.065,3688,1027,825,825,4094,0,0,0,0,0,0,25.79,25.63,25.82,9.70,33.61
$GC,1539,2.59,918.0,3688,1027,824,4094,44.0,16.6,121,1553,0.00,3.12,0.00,0.000,3078,0.000,0.040,3688,2222,824,824,4094,0,0,0,0,0,0,25.82,25.77,25.84,9.70,34.48
$GC,1614,2.59,918.0,3687,2222,821,4094,31.9,16.0,127,1628,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2222,820,820,4094,0,0,0,0,0,0,26.20,26.21,26.20,9.70,33.81
$GC,1688,2.59,918.0,3688,2222,817,4094,20.8,15.3,133,1703,0.00,0.00,0.00,0.000,2054,0.000,0.000,3688,2222,817,817,4094,0,0,0,0,0,0,26.28,26.28,26.28,9.70,34.48
$GC,1763,2.59,918.0,3688,2222,814,4094,9.2,15.4,139,1777,0.00,3.25,0.00,0.000,2564,0.000,0.061,3688,1026,813,813,4094,0,0,0,0,0,0,26.34,25.86,26.34,9.69,33.93
$GC,1803,2.59,918.0,3688,1026,811,4094,3.1,15.3,142,1817,0.00,3.05,0.00,0.000,3078,0.000,0.037,3688,2211,811,811,4094,0,0,0,0,0,0,26.06,26.00,26.08,9.69,34.09
$STATE,1830,end climb,SURFACE_DEPTH_REACHED
$STATE,1830,begin surface coast
$FINISH,-0.0,1.001402
$STATE,1855,end surface coast,CONTROL_FINISHED_OK
$STATE,1855,begin surface
$SM_CCo,1958,0.00,0.000,0,0,810,935.87
$SM_GC,0.96,36.25,0.00,0.00,0.031,0.000,0.000,231,2212,810,-9.12,-0.05,935.87,0,0,0,0,0,0,25.69,26.41,25.93
$IRIDIUM_FIX,4748.51,-12337.82,220217,211130
$TT8_MAMPS,0.025466,0.214214
$HUMID,33.57
$INTERNAL_PRESSURE,9.6133
$TCM_TEMP,6.40
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.9,4.5
$24V_AH,24.15,2.971
$10V_AH,9.57,3.279
$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,78.375,25.300,78.750,0.000,0.000,0.000,0.000,0.000,1.750,0.000,25.971,422.691,60.270,155.191,1383.691,20.141,30.291,548.222,0.000,246.091,0.000,2.733,0.000
$DEVICE_MAMPS,133.875,65.025,1406.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.919,187.291,0.000,757.705,1341.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,10696,146
$CAP_FILE_SIZE,49614,0
$CFSIZE,1024409600,1018249216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220217,215412,4742.825,-12224.567,5,0.9,44,16.3,0.0,0.0,9,4.8