version: 66.14
glider: 401
mission: 23
dive: 8
start: 4 12 118 2 34 23
data:
$ID,401
$MISSION,23
$DIVE,8
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,200
$D_NO_BLEED,200
$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,60
$T_MISSION,90
$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,150
$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,-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,1542.078
$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,3122
$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,54
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,15
$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,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$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,1
$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
$GPS1,120418,020504,4744.7881,-12224.1885,5,1.2,51,16.3,0.4,26.0,8,7.1
$_CALLS,10
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.3
$GPS2,120418,023405,4745.1611,-12224.2754,6,1.0,52,16.3,0.5,347.4,8,8.4
$SPEED_LIMITS,0.214,0.230
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$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,171.3,4972,-20.9,-10.000,-23.50,2227
$D_GRID,182
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7,-2.12,-146.3,239,2605,1513,3405,0.0,0.0,0,12,0.00,0.00,-3.22,0.000,16390,0.000,0.000,239,2605,2086,2086,4094,0,0,0,0,0,0,26.44,25.18,26.43,8.49,47.40
$GC,13,-2.12,-146.3,240,2606,2089,4094,0.0,0.0,0,45,27.62,3.03,0.00,0.000,2564,0.138,0.044,2430,1441,2091,2091,4094,0,0,0,0,0,0,25.97,26.05,26.12,8.61,46.88
$GC,151,-2.12,-146.3,2429,1448,2099,4094,43.8,-25.5,23,159,0.00,3.10,0.00,0.000,1030,0.000,0.060,2430,2596,2102,2102,4093,0,0,0,0,0,0,26.27,26.16,26.29,8.61,45.98
$GC,217,-2.12,-146.3,2430,2597,2101,4093,61.2,-26.6,30,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2596,2102,2102,4094,0,0,0,0,0,0,26.60,26.62,26.61,8.61,45.94
$GC,277,-2.12,-146.3,2429,2597,2107,4094,78.0,-28.1,36,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2594,2105,2105,4094,0,0,0,0,0,0,26.65,26.66,26.66,8.61,46.65
$GC,337,-2.12,-146.3,2430,2596,2109,4094,94.6,-27.3,42,345,0.00,3.00,0.00,0.000,516,0.000,0.044,2427,1441,2109,2109,4094,0,0,0,0,0,0,26.67,26.35,26.70,8.61,45.94
$GC,475,-2.12,-146.3,2431,1444,2117,4094,131.6,-29.1,65,483,0.00,3.05,0.00,0.000,1030,0.000,0.063,2430,2590,2117,2117,4090,0,0,0,0,0,0,26.48,26.41,26.52,8.64,45.98
$GC,541,-2.12,-146.3,2429,2581,2123,4090,151.9,-30.2,72,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2583,2122,2122,4094,0,0,0,0,0,0,26.79,26.81,26.81,8.61,46.33
$GC,601,-2.12,-146.3,2429,2584,2128,4094,170.7,-31.7,78,609,0.00,2.95,0.00,0.000,516,0.000,0.043,2430,1443,2130,2130,4095,0,0,0,0,0,0,26.82,26.48,26.83,8.62,46.37
$STATE,636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,636,begin apogee
$GC,642,-0.45,0.0,2433,2601,2124,4094,181.3,-28.2,84,661,6.15,0.00,11.57,2.240,10244,0.103,0.000,2966,2601,1921,1921,4095,0,0,0,0,0,0,26.44,25.78,24.22,8.62,46.10
$STATE,662,end apogee,CONTROL_FINISHED_OK
$STATE,662,begin climb
$GC,663,2.12,146.3,2967,2602,1920,4095,186.0,0.0,86,682,7.55,0.00,9.48,2.129,11270,0.053,0.000,3676,2601,1760,1760,4094,0,0,0,0,0,0,26.00,26.16,23.90,8.59,46.10
$GC,736,2.19,194.4,3677,2601,1754,4094,182.1,7.8,95,741,0.00,0.00,4.22,1.399,10246,0.000,0.000,3676,2603,1721,1721,4095,0,0,0,0,0,0,26.09,25.53,24.04,8.56,45.94
$GC,796,2.23,220.3,3676,2602,1713,4095,177.1,8.8,101,800,0.00,0.00,3.47,1.080,10246,0.000,0.000,3676,2601,1680,1680,4090,0,0,0,0,0,0,26.18,25.65,24.16,8.55,45.70
$GC,856,2.23,220.3,3676,2602,1681,4090,170.6,11.2,107,856,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2602,1679,1679,4095,0,0,0,0,0,0,26.26,26.27,26.27,8.54,45.82
$GC,916,2.23,220.3,3677,2601,1677,4095,163.9,11.6,113,916,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2602,1677,1677,4094,0,0,0,0,0,0,26.38,26.39,26.38,8.54,46.25
$GC,976,2.23,220.3,3677,2602,1675,4094,157.3,11.2,119,984,0.00,3.08,0.00,0.000,2564,0.000,0.050,3677,1441,1675,1675,4090,0,0,0,0,0,0,26.47,26.16,26.48,8.54,46.53
$GC,1030,2.24,223.1,3676,1441,1684,4090,151.9,9.9,128,1038,0.00,3.05,0.00,0.000,3078,0.000,0.052,3676,2593,1673,1673,4094,0,0,0,0,0,0,26.26,26.19,26.29,8.60,46.06
$GC,1096,2.28,251.4,3676,2592,1675,4094,145.9,8.7,135,1104,0.00,3.28,3.10,0.806,10500,0.000,0.086,3677,3782,1648,1648,4093,0,0,0,0,0,0,26.60,25.79,24.71,8.54,46.45
$GC,1138,2.28,251.4,3677,3782,1647,4093,140.7,13.8,142,1146,0.00,2.90,0.00,0.000,3078,0.000,0.034,3682,2611,1647,1647,4094,0,0,0,0,0,0,26.39,26.37,26.40,8.52,46.10
$GC,1204,2.28,251.4,3677,2611,1645,4094,133.6,10.5,149,1212,0.00,3.25,0.00,0.000,2308,0.000,0.087,3676,3778,1641,1641,4094,0,0,0,0,0,0,26.63,26.27,26.64,8.53,46.37
$GC,1234,2.28,251.4,3677,3780,1643,4094,129.6,14.0,154,1242,0.00,2.88,0.03,0.005,11270,0.000,0.034,3682,2610,1645,1645,4092,0,0,0,0,0,0,26.46,26.44,26.47,8.53,46.18
$GC,1300,2.28,251.4,3676,2607,1644,4092,122.1,11.0,161,1308,0.00,3.05,0.00,0.000,2564,0.000,0.050,3673,1437,1642,1642,4094,0,0,0,0,0,0,26.70,26.35,26.70,8.53,46.02
$GC,1360,2.30,264.8,3677,1442,1641,4094,116.4,9.4,171,1368,0.00,3.03,1.20,0.003,11270,0.000,0.053,3676,2595,1641,1641,4095,0,0,0,0,0,0,26.46,26.39,26.51,8.52,46.22
$GC,1426,2.30,264.8,3677,2594,1639,4095,109.5,10.7,178,1429,0.00,0.00,2.33,0.278,10246,0.000,0.000,3677,2596,1624,1624,4089,0,0,0,0,0,0,26.77,26.29,25.10,8.49,46.22
$GC,1486,2.30,264.8,3677,2594,1631,4089,103.1,10.7,184,1487,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2594,1630,1630,4094,0,0,0,0,0,0,26.78,26.79,26.79,8.50,47.04
$GC,1546,2.30,264.8,3677,2593,1629,4094,96.5,11.0,190,1554,0.00,3.00,0.00,0.000,2564,0.000,0.049,3671,1439,1627,1627,4094,0,0,0,0,0,0,26.81,26.47,26.81,8.52,46.22
$GC,1594,2.30,264.8,3677,1442,1627,4094,91.5,10.5,198,1602,0.00,2.97,0.00,0.000,3078,0.000,0.052,3677,2582,1627,1627,4092,0,0,0,0,0,0,26.53,26.48,26.58,8.51,46.02
$GC,1660,2.30,264.8,3677,2587,1625,4092,84.4,10.7,205,1668,0.00,2.95,0.00,0.000,2564,0.000,0.048,3677,1447,1625,1625,4095,0,0,0,0,0,0,26.84,26.51,26.85,8.52,46.69
$GC,1690,2.30,267.0,3677,1447,1625,4095,81.4,9.9,210,1698,0.00,2.95,0.00,0.000,3078,0.000,0.053,3674,2578,1625,1625,4095,0,0,0,0,0,0,26.56,26.51,26.61,8.51,46.33
$GC,1756,2.30,267.0,3677,2579,1623,4095,74.6,10.2,217,1757,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2578,1623,1623,4094,0,0,0,0,0,0,26.87,26.88,26.88,8.51,46.22
$GC,1816,2.31,269.7,3676,2579,1623,4094,68.7,9.9,223,1817,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2578,1622,1622,4094,0,0,0,0,0,0,26.89,26.90,26.89,8.51,46.22
$GC,1876,2.31,269.7,3675,2579,1620,4094,62.7,10.0,229,1884,0.00,2.92,0.00,0.000,2564,0.000,0.047,3677,1446,1622,1622,4095,0,0,0,0,0,0,26.89,26.56,26.94,8.51,45.94
$GC,1912,2.35,297.4,3676,1447,1622,4095,59.4,8.7,235,1920,0.00,2.92,2.92,0.474,11270,0.000,0.052,3673,2570,1597,1597,4087,0,0,0,0,0,0,26.66,26.60,25.48,8.52,46.69
$GC,1978,2.35,297.4,3677,2570,1593,4087,53.0,10.4,242,1979,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2570,1594,1594,4095,0,0,0,0,0,0,26.90,26.91,26.90,8.50,46.73
$GC,2038,2.35,297.4,3677,2570,1593,4095,46.3,11.0,248,2046,0.00,3.33,0.00,0.000,2308,0.000,0.090,3676,3782,1593,1593,4095,0,0,0,0,0,0,26.92,26.56,26.93,8.51,46.92
$GC,2128,2.35,297.4,3677,3780,1585,4095,33.0,14.5,263,2136,0.00,2.90,0.00,0.000,3078,0.000,0.034,3679,2578,1584,1584,4094,0,0,0,0,0,0,26.75,26.73,26.76,8.50,46.33
$GC,2194,2.35,297.4,3676,2577,1589,4094,25.8,10.6,270,2195,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2577,1588,1588,4094,0,0,0,0,0,0,26.96,26.97,26.96,8.50,46.53
$GC,2255,2.35,297.4,3677,2577,1586,4094,19.4,10.4,276,2255,0.00,0.00,0.00,0.000,2054,0.000,0.000,3677,2577,1586,1586,4094,0,0,0,0,0,0,26.90,26.91,26.91,8.50,46.37
$GC,2314,2.44,356.2,3676,2577,1586,4094,14.5,7.3,282,2319,0.00,0.00,3.78,0.474,10246,0.000,0.000,3677,2576,1549,1549,4090,0,0,0,0,0,0,26.98,26.55,25.84,8.57,46.53
$GC,2374,2.53,417.2,3676,2577,1538,4090,10.4,7.2,288,2387,0.00,2.92,4.75,0.554,10756,0.000,0.049,3676,1445,1465,1465,4094,0,0,0,0,0,0,26.95,26.54,25.84,8.49,46.69
$GC,2434,2.53,417.2,3678,1445,1462,4094,4.7,10.2,298,2442,0.00,2.95,0.00,0.000,3078,0.000,0.055,3677,2574,1473,1473,4094,0,0,0,0,0,0,26.63,26.58,26.67,8.48,46.57
$STATE,2469,end climb,SURFACE_DEPTH_REACHED
$STATE,2469,begin surface coast
$FINISH,0.1,0.999823
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2519,50.50,0.741,0,0,247,1542.08
$SM_GC,1.15,34.80,0.08,50.50,0.027,0.150,0.741,239,2599,247,-8.99,-0.87,1542.08,0,0,0,0,0,0,26.68,26.64,25.26
$IRIDIUM_FIX,4808.40,-12337.82,120418,021358
$TT8_MAMPS,0.047187,0.840378
$HUMID,45.19
$INTERNAL_PRESSURE,8.18747
$TCM_TEMP,7.90
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.4,9.4
$ALTIM_BOTTOM_PING,91.9,9.7
$SC_FREEKB,3908832
$24V_AH,23.90,0.614
$10V_AH,10.14,2.044
$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,76.125,72.625,46.850,50.500,0.000,266.611,206.970,629.974,6.750,0.000,53.882,0.000,2053.866,299.123,1909.992,57.195,0.000,568.381,0.000,440.715,0.000,23.531,0.000
$DEVICE_MAMPS,137.700,149.940,2239.920,740.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2502.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,65.210,0.000,0.000,0.000
$MEM,312912
$DATA_FILE_SIZE,10534,303
$CAP_FILE_SIZE,79366,0
$CFSIZE,1023623168,1020674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,031846,4745.041,-12224.319,25,1.3,70,16.3,0.3,11.0,7,2.6