version: 66.14
glider: 401
mission: 23
dive: 10
start: 4 12 118 4 36 58
data:
$ID,401
$MISSION,23
$DIVE,10
$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,1505.142
$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,3150
$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,46
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1880
$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,30
$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,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,120418,041700,4745.0073,-12224.3301,5,1.0,34,16.3,0.0,56.2,9,4.8
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-69.5
$GPS2,120418,043640,4745.0762,-12224.3086,7,0.9,24,16.3,0.0,333.0,9,4.6
$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,171.0,4810,-20.9,-10.000,-23.50,2227
$D_GRID,176
$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,-146.3,244,2603,1494,3405,0.0,0.0,0,11,0.00,0.00,-3.15,0.000,16390,0.000,0.000,239,2602,2047,2047,4094,0,0,0,0,0,0,26.50,25.33,26.50,8.48,46.49
$GC,13,-2.12,-146.3,239,2611,2049,4094,0.0,0.0,0,47,27.73,3.25,0.00,0.000,2820,0.137,0.083,2458,3790,2062,2062,4094,0,0,0,0,0,0,26.05,26.09,26.21,8.54,46.88
$GC,275,-2.12,-146.3,2455,3785,2068,4094,90.5,-32.0,44,281,0.00,2.88,0.00,0.000,1030,0.000,0.033,2453,2597,2068,2068,4094,0,0,0,0,0,0,26.53,26.47,26.55,8.60,45.51
$GC,339,-2.12,-146.3,2454,2596,2074,4094,108.3,-25.3,51,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2596,2072,2072,4094,0,0,0,0,0,0,26.72,26.73,26.76,8.57,45.66
$GC,399,-2.12,-146.3,2456,2596,2084,4094,123.7,-26.2,57,407,0.00,2.95,0.00,0.000,516,0.000,0.041,2454,1445,2076,2076,4092,0,0,0,0,0,0,26.74,26.41,26.76,8.60,46.53
$GC,477,-2.12,-146.3,2455,1443,2080,4092,143.8,-25.6,70,485,0.00,3.00,0.00,0.000,1030,0.000,0.061,2454,2570,2080,2080,4094,0,0,0,0,0,0,26.50,26.43,26.53,8.61,45.62
$GC,543,-2.12,-146.3,2454,2571,2086,4094,160.6,-25.3,77,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2570,2084,2084,4094,0,0,0,0,0,0,26.84,26.83,26.82,8.61,46.14
$GC,603,-2.12,-146.3,2458,2571,2097,4094,175.0,-23.5,83,611,0.00,2.90,0.00,0.000,516,0.000,0.042,2454,1445,2088,2088,4094,0,0,0,0,0,0,26.84,26.51,26.84,8.61,45.74
$STATE,614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,614,begin apogee
$GC,619,-0.45,0.0,2456,2615,2081,4094,178.1,-24.6,85,638,6.07,0.00,11.40,2.205,10244,0.102,0.000,2994,2615,1883,1883,4094,0,0,0,0,0,0,26.48,25.80,24.30,8.61,45.58
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,640,2.12,146.3,2988,2616,1884,4094,182.8,0.0,87,665,7.43,3.30,9.60,2.119,10500,0.060,0.099,3674,3781,1720,1720,4094,0,0,0,0,0,0,26.01,25.89,23.92,8.57,46.18
$GC,770,2.12,146.3,3674,3782,1719,4094,166.6,13.4,109,779,0.00,2.92,0.03,0.002,11270,0.000,0.033,3675,2601,1723,1723,4094,0,0,0,0,0,0,26.08,26.06,26.07,8.54,45.07
$GC,837,2.19,192.8,3675,2601,1718,4094,160.8,7.9,116,842,0.00,0.00,4.05,1.251,10246,0.000,0.000,3671,2601,1670,1670,4090,0,0,0,0,0,0,26.39,25.84,24.42,8.54,45.70
$GC,897,2.27,244.5,3675,2601,1671,4090,156.3,7.6,122,905,0.00,3.08,4.15,1.249,10756,0.000,0.047,3675,1440,1618,1618,4093,0,0,0,0,0,0,26.38,25.89,24.45,8.53,45.58
$GC,969,2.30,265.8,3675,1438,1619,4093,150.5,9.0,134,978,0.00,3.03,3.08,0.825,11270,0.000,0.051,3675,2579,1593,1593,4095,0,0,0,0,0,0,26.13,26.07,24.60,8.49,45.98
$GC,1035,2.30,265.8,3676,2576,1592,4095,143.2,11.5,141,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,3678,2576,1592,1592,4094,0,0,0,0,0,0,26.44,26.44,26.44,8.51,45.74
$GC,1095,2.30,265.8,3676,2576,1593,4094,136.2,11.8,147,1103,0.00,3.33,0.00,0.000,2308,0.000,0.087,3676,3773,1590,1590,4094,0,0,0,0,0,0,26.51,26.14,26.51,8.51,45.62
$GC,1119,2.30,265.8,3674,3773,1591,4094,132.5,15.2,151,1127,0.00,2.90,0.00,0.000,3078,0.000,0.034,3675,2600,1589,1589,4095,0,0,0,0,0,0,26.32,26.34,26.37,8.51,45.55
$GC,1185,2.30,265.8,3675,2594,1589,4095,123.8,12.7,158,1186,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2595,1596,1596,4094,0,0,0,0,0,0,26.59,26.60,26.60,8.51,45.66
$GC,1245,2.30,265.8,3675,2594,1587,4094,116.3,12.3,164,1246,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2593,1585,1585,4094,0,0,0,0,0,0,26.64,26.65,26.65,8.51,46.25
$GC,1305,2.30,265.8,3679,2594,1585,4094,108.8,12.8,170,1313,0.00,2.97,0.00,0.000,2564,0.000,0.047,3675,1445,1583,1583,4094,0,0,0,0,0,0,26.68,26.34,26.70,8.51,45.90
$GC,1371,2.30,265.8,3676,1446,1581,4094,101.1,11.5,181,1379,0.00,3.03,0.00,0.000,3078,0.000,0.054,3675,2595,1581,1581,4093,0,0,0,0,0,0,26.45,26.39,26.48,8.51,45.62
$GC,1437,2.30,265.8,3675,2595,1581,4093,92.6,13.3,188,1438,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2595,1579,1579,4094,0,0,0,0,0,0,26.75,26.76,26.76,8.50,45.70
$GC,1497,2.30,265.8,3675,2595,1579,4094,84.6,13.2,194,1498,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2596,1577,1577,4094,0,0,0,0,0,0,26.78,26.79,26.79,8.50,45.90
$GC,1557,2.30,265.8,3676,2595,1575,4094,76.8,13.1,200,1558,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2594,1575,1575,4094,0,0,0,0,0,0,26.81,26.82,26.82,8.50,46.33
$GC,1617,2.30,265.8,3676,2595,1573,4094,69.2,12.7,206,1625,0.00,2.97,0.00,0.000,2564,0.000,0.046,3675,1454,1572,1572,4095,0,0,0,0,0,0,26.83,26.50,26.84,8.50,46.14
$GC,1665,2.30,265.8,3676,1446,1572,4095,63.5,11.6,214,1673,0.00,2.97,0.00,0.000,3078,0.000,0.052,3675,2583,1571,1571,4093,0,0,0,0,0,0,26.57,26.49,26.60,8.50,46.22
$GC,1731,2.30,265.8,3674,2587,1572,4093,55.7,11.6,221,1732,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2586,1570,1570,4094,0,0,0,0,0,0,26.86,26.87,26.87,8.50,46.73
$GC,1791,2.30,265.8,3676,2587,1568,4094,49.4,10.6,227,1799,0.00,2.95,0.00,0.000,2564,0.000,0.046,3676,1444,1568,1568,4094,0,0,0,0,0,0,26.89,26.58,26.89,8.50,45.74
$GC,1821,2.30,265.8,3676,1444,1566,4094,45.8,11.8,232,1829,0.00,2.97,0.00,0.000,3078,0.000,0.056,3676,2580,1567,1567,4095,0,0,0,0,0,0,26.64,26.54,26.65,8.50,46.18
$GC,1887,2.30,265.8,3676,2578,1565,4095,37.4,12.2,239,1895,0.00,3.30,0.00,0.000,2308,0.000,0.090,3683,3778,1565,1565,4094,0,0,0,0,0,0,26.91,26.51,26.91,8.49,46.65
$GC,1905,2.30,265.8,3675,3778,1567,4094,35.0,12.4,242,1913,0.00,2.90,0.00,0.000,3078,0.000,0.034,3676,2579,1566,1566,4094,0,0,0,0,0,0,26.71,26.68,26.72,8.50,45.82
$GC,1971,2.30,265.8,3675,2580,1564,4094,27.6,10.5,249,1972,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2579,1563,1563,4094,0,0,0,0,0,0,26.91,26.93,26.92,8.50,46.10
$GC,2031,2.31,270.4,3676,2579,1561,4094,21.6,9.8,255,2039,0.00,2.90,0.00,0.000,2564,0.000,0.045,3675,1446,1561,1561,4093,0,0,0,0,0,0,26.94,26.60,26.94,8.50,45.98
$GC,2097,2.36,307.8,3676,1447,1560,4093,16.0,8.3,266,2105,0.00,2.90,2.55,0.230,11270,0.000,0.051,3675,2559,1541,1541,4094,0,0,0,0,0,0,26.67,26.60,25.84,8.57,46.81
$GC,2163,2.42,347.6,3676,2559,1543,4094,10.6,8.2,273,2172,0.00,2.85,3.42,0.401,10756,0.000,0.044,3675,1442,1504,1504,4094,0,0,0,0,0,0,26.94,26.36,25.90,8.49,46.29
$GC,2229,2.47,378.4,3676,1442,1503,4094,5.2,8.6,284,2238,0.00,2.85,3.30,0.358,11270,0.000,0.054,3675,2532,1466,1466,4093,0,0,0,0,0,0,26.65,26.59,25.90,8.48,45.86
$STATE,2264,end climb,SURFACE_DEPTH_REACHED
$STATE,2264,begin surface coast
$FINISH,0.1,0.999823
$STATE,2285,end surface coast,CONTROL_FINISHED_OK
$STATE,2285,begin surface
$SM_CCo,2324,50.70,0.735,0,0,246,1505.14
$SM_GC,1.03,34.75,0.20,50.70,0.026,0.102,0.735,239,2603,246,-9.08,-0.59,1505.14,0,0,0,0,0,0,26.68,26.60,25.28
$IRIDIUM_FIX,4808.40,-12337.82,120418,032032
$TT8_MAMPS,0.047187,0.563248
$HUMID,44.64
$INTERNAL_PRESSURE,8.1777
$TCM_TEMP,7.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.7,6.3
$ALTIM_BOTTOM_PING,90.5,8.7
$SC_FREEKB,3907680
$24V_AH,23.92,0.743
$10V_AH,10.53,2.178
$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,75.975,72.400,41.575,50.700,0.000,255.322,142.493,239.781,0.750,0.000,25.682,0.000,1908.502,280.166,1324.022,53.241,0.000,537.952,0.000,422.404,0.000,12.817,0.000
$DEVICE_MAMPS,136.935,101.745,2204.730,735.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2304.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,65.539,0.000,0.000,0.000
$MEM,312988
$DATA_FILE_SIZE,10477,290
$CAP_FILE_SIZE,68032,0
$CFSIZE,1023623168,1020329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,051746,4744.829,-12224.383,5,1.0,50,16.3,0.2,332.7,8,3.0