version: 66.14
glider: 401
mission: 23
dive: 5
start: 4 11 118 23 15 55
data:
$ID,401
$MISSION,23
$DIVE,5
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,45
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,20
$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,-6
$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,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,74692
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,270
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$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,3138
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$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,20
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1920
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$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,4
$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,-51.021927
$PRESSURE_SLOPE,2.5699999e-05
$AD7714Ch0Gain,1
$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,90
$ALTIM_PING_DELTA,1
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$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,2991.02
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,110418,230131,4743.9780,-12223.4814,6,0.8,13,16.3,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.89
$_SM_ANGLEo,-3.9
$GPS2,110418,230131,4743.9780,-12223.4814,6,0.8,13,16.3,0.0,0.0,10,4.8
$SPEED_LIMITS,0.214,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,4743.978,-12239.537
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,253.7,20000,-14.6,-10.000,-17.74,4419
$D_GRID,164
$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,2,end surface,CONTROL_FINISHED_OK
$STATE,2,begin dive
$GC,4,-1.77,-292.5,3149,2548,1932,3403,0.0,0.0,0,15,5.68,0.00,-1.27,0.000,20486,0.026,0.000,2573,2547,2243,2243,4094,0,0,0,0,0,0,26.58,25.94,26.63,8.59,48.93
$GC,16,-1.77,-292.5,2573,2547,2246,4094,5.3,0.0,1,25,0.00,1.17,0.00,0.000,260,0.000,0.078,2573,2988,2244,2244,4094,0,0,0,0,0,0,26.77,26.44,26.77,8.65,48.74
$GC,146,-1.77,-292.5,2574,2988,2251,4094,39.2,-26.7,26,155,0.00,1.05,0.00,0.000,1030,0.000,0.037,2573,2548,2251,2251,4094,0,0,0,0,0,0,26.61,26.59,26.64,8.65,48.77
$STATE,170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,170,begin apogee
$GC,173,-0.45,0.0,2574,2548,2252,4094,45.2,-24.8,30,198,4.50,0.00,15.60,1.131,10246,0.089,0.000,2981,2548,1918,1918,4094,0,0,0,0,0,0,26.46,25.79,25.11,8.65,48.50
$STATE,199,end apogee,CONTROL_FINISHED_OK
$STATE,199,begin climb
$GC,200,1.77,292.5,2981,2548,1920,4094,49.5,0.0,35,226,7.28,0.00,15.12,1.123,10246,0.050,0.000,3673,2548,1600,1600,4094,0,0,0,0,0,0,26.20,25.70,24.84,8.59,48.30
$GC,255,1.77,292.5,3674,2548,1600,4094,44.7,12.5,46,255,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2548,1600,1600,4094,0,0,0,0,0,0,26.22,26.24,26.23,8.54,48.42
$GC,285,1.77,292.5,3675,2548,1599,4094,40.7,13.3,52,286,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2548,1599,1599,4094,0,0,0,0,0,0,26.32,26.33,26.33,8.53,48.26
$GC,315,1.77,292.5,3673,2548,1600,4094,37.0,11.9,58,315,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2548,1598,1598,4094,0,0,0,0,0,0,26.39,26.40,26.39,8.53,47.67
$GC,345,1.77,292.5,3674,2548,1598,4094,33.6,11.2,64,345,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2548,1598,1598,4094,0,0,0,0,0,0,26.44,26.46,26.46,8.53,47.91
$GC,375,1.77,292.5,3674,2548,1597,4094,30.4,10.6,70,375,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2548,1597,1597,4094,0,0,0,0,0,0,26.49,26.51,26.50,8.53,47.83
$GC,405,1.77,296.0,3673,2548,1598,4094,27.4,9.9,76,406,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2548,1596,1596,4094,0,0,0,0,0,0,26.53,26.55,26.54,8.53,47.83
$GC,435,1.79,308.1,3674,2548,1596,4094,24.5,9.7,82,442,0.00,0.00,2.45,0.208,10246,0.000,0.000,3674,2548,1583,1583,4094,0,0,0,0,0,0,26.58,25.94,25.37,8.52,47.83
$GC,470,1.79,308.1,3674,2548,1581,4094,20.6,11.0,89,471,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2548,1582,1582,4094,0,0,0,0,0,0,26.60,26.61,26.61,8.52,48.18
$GC,500,1.79,308.1,3674,2548,1581,4094,17.3,11.3,95,501,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2548,1581,1581,4094,0,0,0,0,0,0,26.63,26.64,26.64,8.53,48.62
$GC,530,1.79,308.1,3674,2548,1580,4094,13.6,11.9,101,531,0.00,0.00,0.00,0.000,2054,0.000,0.000,3674,2548,1580,1580,4094,0,0,0,0,0,0,26.66,26.67,26.67,8.53,48.62
$GC,560,1.82,329.9,3674,2548,1579,4094,10.7,9.5,107,567,0.00,1.05,2.75,0.259,10756,0.000,0.030,3674,2070,1560,1560,4094,0,0,0,0,0,0,26.69,26.07,25.56,8.52,47.99
$GC,646,1.98,432.1,3675,2069,1557,4094,3.9,7.6,124,658,0.00,1.33,6.20,0.565,11270,0.000,0.063,3674,2560,1448,1448,4094,0,0,0,0,0,0,26.52,26.39,25.63,8.52,48.30
$STATE,666,end climb,FINISH_DEPTH_REACHED
$STATE,666,begin subsurface finish
$FINISH1,1.9,1.025600,0
$GC,668,0.00,0.0,3675,2560,1448,4094,1.9,9.9,128,680,5.70,0.00,-2.60,0.000,20486,0.069,0.000,3144,2559,1930,1930,4094,0,0,0,0,0,0,26.36,25.42,26.40,8.50,48.11
$FINISH2,1.1
$STATE,680,end subsurface finish,CONTROL_FINISHED_OK
$STATE,680,begin surface
$IRIDIUM_FIX,4808.40,-12337.82,110418,225439
$TT8_MAMPS,0.045689,0.068159
$HUMID,48.50
$INTERNAL_PRESSURE,8.49998
$TCM_TEMP,8.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,10.8
$24V_AH,24.84,0.368
$10V_AH,10.89,1.848
$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,23.150,5.850,42.125,0.000,0.000,0.000,0.000,0.000,15.250,0.000,0.000,0.000,244.427,79.263,383.380,9.540,0.000,213.471,0.000,195.026,0.000,154.753,0.000
$DEVICE_MAMPS,88.740,78.030,1131.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313052
$DATA_FILE_SIZE,3601,130
$CAP_FILE_SIZE,28379,0
$CFSIZE,1023623168,1021050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110418,230131,4743.978,-12223.481,6,0.8,13,16.3,0.0,0.0,10,4.8