version: 66.14
glider: 401
mission: 23
dive: 18
start: 4 12 118 12 54 53
data:
$ID,401
$MISSION,23
$DIVE,18
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,74692
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040000002
$HD_B,0.012
$HD_C,5.7000002e-06
$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,350
$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,3175
$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,45
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1800
$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,15
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$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
$GPS1,120418,124156,4742.7119,-12224.7236,8,1.1,33,16.3,0.4,11.0,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.8
$GPS2,120418,125434,4742.8018,-12224.6621,7,0.9,16,16.3,0.0,0.0,11,4.7
$SPEED_LIMITS,0.275,0.329
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-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,339.3,2226,-13.3,-10.000,-16.93,4474
$D_GRID,179
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6,-1.33,-292.5,238,2591,1467,3406,0.0,0.0,0,11,0.00,0.00,-3.90,0.000,16390,0.000,0.000,239,2590,2123,2123,4094,0,0,0,0,0,0,26.28,25.15,26.26,8.47,44.01
$GC,12,-1.33,-292.5,243,2590,2115,4094,0.0,0.0,0,50,31.58,2.40,0.00,0.000,2564,0.134,0.033,2739,1638,2134,2134,4090,0,0,0,0,0,0,25.86,25.96,26.00,8.61,44.36
$GC,276,-1.33,-292.5,2738,1637,2137,4090,52.0,-14.0,44,284,0.00,2.60,0.00,0.000,1030,0.000,0.063,2739,2593,2136,2136,4095,0,0,0,0,0,0,26.34,26.21,26.36,8.60,43.54
$GC,342,-1.33,-292.5,2739,2592,2138,4095,61.4,-14.4,51,349,0.00,2.45,0.00,0.000,516,0.000,0.035,2745,1646,2134,2134,4095,0,0,0,0,0,0,26.60,26.32,26.61,8.61,44.29
$GC,432,-1.33,-292.5,2740,1641,2140,4095,73.4,-13.1,66,440,0.00,2.62,0.00,0.000,1030,0.000,0.063,2739,2619,2140,2140,4094,0,0,0,0,0,0,26.44,26.36,26.47,8.60,43.66
$GC,498,-1.33,-292.5,2740,2611,2142,4094,82.8,-14.5,73,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2610,2142,2142,4094,0,0,0,0,0,0,26.70,26.71,26.71,8.60,43.93
$GC,558,-1.33,-292.5,2739,2611,2144,4094,91.6,-14.8,79,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2611,2145,2145,4094,0,0,0,0,0,0,26.72,26.74,26.74,8.61,44.44
$GC,618,-1.33,-292.5,2738,2611,2145,4094,101.1,-15.9,85,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2614,2144,2144,4094,0,0,0,0,0,0,26.76,26.77,26.77,8.60,44.05
$GC,678,-1.33,-292.5,2740,2611,2148,4094,110.8,-16.4,91,685,0.00,2.47,0.00,0.000,516,0.000,0.035,2739,1640,2145,2145,4095,0,0,0,0,0,0,26.78,26.50,26.79,8.60,44.09
$GC,741,-1.33,-292.5,2739,1640,2150,4095,120.2,-15.3,101,746,0.00,2.53,0.00,0.000,1030,0.000,0.063,2742,2593,2150,2150,4094,0,0,0,0,0,0,26.58,26.46,26.65,8.60,44.52
$GC,807,-1.33,-292.5,2740,2595,2153,4094,130.4,-15.3,108,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2594,2153,2153,4094,0,0,0,0,0,0,26.74,26.76,26.76,8.61,44.36
$GC,864,-1.33,-292.5,2738,2595,2157,4094,140.8,-17.4,114,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2594,2155,2155,4094,0,0,0,0,0,0,26.81,26.83,26.83,8.61,44.40
$GC,924,-1.33,-292.5,2738,2595,2159,4094,150.1,-15.1,120,931,0.00,2.42,0.00,0.000,516,0.000,0.034,2739,1644,2158,2158,4094,0,0,0,0,0,0,26.84,26.55,26.85,8.61,44.21
$GC,1032,-1.33,-292.5,2738,1643,2163,4094,166.1,-14.8,138,1040,0.00,2.55,0.00,0.000,1030,0.000,0.063,2739,2593,2162,2162,4094,0,0,0,0,0,0,26.65,26.53,26.68,8.61,44.80
$GC,1098,-1.33,-292.5,2738,2594,2166,4094,176.1,-15.1,145,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2593,2158,2158,4094,0,0,0,0,0,0,26.89,26.90,26.90,8.61,44.29
$STATE,1117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1117,begin apogee
$GC,1119,-0.33,0.0,2740,2594,2165,4094,179.1,-14.8,147,1143,3.53,0.00,18.73,2.364,10244,0.074,0.000,3060,2593,1799,1799,4094,0,0,0,0,0,0,26.58,25.53,24.10,8.61,44.44
$STATE,1144,end apogee,CONTROL_FINISHED_OK
$STATE,1144,begin climb
$GC,1145,1.33,292.5,3062,2593,1799,4094,180.8,0.0,149,1170,5.60,0.00,16.95,2.306,11270,0.050,0.000,3586,2593,1481,1481,4094,0,0,0,0,0,0,25.70,25.87,23.49,8.55,44.09
$GC,1223,1.38,324.8,3578,2594,1483,4094,175.4,9.3,159,1228,0.15,0.00,3.38,1.053,10246,0.060,0.000,3601,2593,1444,1444,4094,0,0,0,0,0,0,25.58,25.32,23.92,8.49,43.85
$GC,1283,1.38,324.8,3602,2594,1449,4094,168.8,11.3,165,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,2594,1449,1449,4095,0,0,0,0,0,0,25.98,25.99,25.99,8.48,43.93
$GC,1343,1.38,324.8,3600,2594,1449,4095,162.1,10.9,171,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,2594,1448,1448,4091,0,0,0,0,0,0,26.15,26.17,26.17,8.49,44.09
$GC,1403,1.39,331.9,3602,2594,1446,4091,156.0,9.8,177,1405,0.00,0.00,0.60,0.002,8198,0.000,0.000,3601,2593,1446,1446,4094,0,0,0,0,0,0,26.28,26.28,26.28,8.48,44.05
$GC,1463,1.53,426.4,3600,2594,1447,4094,151.1,7.8,183,1475,0.40,0.00,6.72,1.645,10246,0.034,0.000,3645,2593,1341,1341,4094,0,0,0,0,0,0,26.17,25.44,24.46,8.48,44.52
$GC,1533,1.53,426.4,3647,2595,1340,4094,143.5,12.6,190,1541,0.00,2.47,0.00,0.000,516,0.000,0.036,3647,1643,1338,1338,4094,0,0,0,0,0,0,26.28,26.00,26.29,8.47,44.13
$GC,1647,1.64,503.2,3648,1641,1335,4094,130.8,8.2,209,1661,0.22,2.60,5.20,1.323,11270,0.048,0.059,3682,2601,1261,1261,4094,0,0,0,0,0,0,26.27,26.13,24.71,8.46,44.05
$GC,1719,1.64,503.2,3682,2601,1259,4094,121.4,13.9,217,1721,0.00,0.00,0.98,0.002,8198,0.000,0.000,3682,2602,1258,1258,4094,0,0,0,0,0,0,26.39,26.39,26.38,8.44,44.17
$GC,1779,1.64,503.2,3681,2602,1258,4094,113.5,12.9,223,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2602,1252,1252,4092,0,0,0,0,0,0,26.47,26.50,26.48,8.45,44.13
$GC,1839,1.64,503.2,3682,2601,1255,4092,105.7,13.3,229,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2601,1255,1255,4094,0,0,0,0,0,0,26.53,26.55,26.54,8.44,44.92
$GC,1899,1.64,503.2,3681,2602,1254,4094,97.9,13.1,235,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,3680,2601,1253,1253,4094,0,0,0,0,0,0,26.59,26.60,26.59,8.44,44.48
$GC,1959,1.64,503.2,3681,2600,1252,4094,90.0,13.2,241,1967,0.00,2.45,0.00,0.000,516,0.000,0.037,3682,1649,1249,1249,4095,0,0,0,0,0,0,26.63,26.34,26.65,8.44,44.40
$GC,2037,1.64,503.2,3683,1649,1249,4095,80.8,11.3,254,2045,0.00,2.55,0.00,0.000,1030,0.000,0.059,3682,2599,1248,1248,4094,0,0,0,0,0,0,26.46,26.38,26.49,8.44,44.44
$GC,2103,1.64,503.2,3682,2599,1248,4094,72.2,13.7,261,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2599,1246,1246,4094,0,0,0,0,0,0,26.71,26.72,26.72,8.43,44.99
$GC,2163,1.64,503.2,3683,2599,1244,4094,63.9,13.8,267,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2599,1244,1244,4094,0,0,0,0,0,0,26.74,26.76,26.75,8.43,45.11
$GC,2223,1.64,503.2,3683,2599,1242,4094,55.7,13.6,273,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2599,1241,1241,4094,0,0,0,0,0,0,26.77,26.77,26.78,8.43,44.76
$GC,2283,1.64,503.2,3682,2599,1241,4094,47.6,13.4,279,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2599,1239,1239,4094,0,0,0,0,0,0,26.79,26.81,26.81,8.43,44.84
$GC,2343,1.64,503.2,3682,2599,1240,4094,40.4,11.9,285,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2599,1238,1238,4094,0,0,0,0,0,0,26.82,26.83,26.83,8.43,44.68
$GC,2403,1.64,503.2,3683,2599,1235,4094,32.2,14.1,291,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,3681,2599,1236,1236,4094,0,0,0,0,0,0,26.84,26.85,26.85,8.43,44.88
$GC,2463,1.64,503.2,3683,2599,1233,4094,24.1,13.2,297,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2599,1233,1233,4094,0,0,0,0,0,0,26.86,26.87,26.87,8.43,45.19
$GC,2523,1.64,503.2,3682,2599,1232,4094,16.5,12.7,303,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2598,1231,1231,4094,0,0,0,0,0,0,26.87,26.89,26.89,8.43,45.47
$GC,2583,1.64,503.2,3683,2599,1228,4094,8.8,12.7,309,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3683,2599,1229,1229,4094,0,0,0,0,0,0,26.89,26.90,26.89,8.43,45.78
$STATE,2642,end climb,SURFACE_DEPTH_REACHED
$STATE,2642,begin surface coast
$FINISH,0.4,0.999823
$STATE,2652,end surface coast,CONTROL_FINISHED_OK
$STATE,2652,begin surface
$SM_CCo,2752,0.00,0.000,0,0,1225,530.96
$SM_GC,1.53,34.88,0.00,0.00,0.024,0.000,0.000,240,2599,1225,-9.16,-0.05,530.96,0,0,0,0,0,0,26.68,26.77,26.71
$IRIDIUM_FIX,4808.40,-12337.82,120418,114947
$TT8_MAMPS,0.047936,0.38199
$HUMID,44.56
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,7.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,13.9,9.5
$ALTIM_BOTTOM_PING,135.5,15.2
$SC_FREEKB,3902784
$24V_AH,23.49,1.373
$10V_AH,10.56,2.884
$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,76.350,30.125,52.550,0.000,0.000,45.586,36.605,519.000,3.750,0.000,17.314,0.000,1953.522,194.360,1320.752,51.438,0.000,462.241,0.000,459.090,0.000,35.799,0.000
$DEVICE_MAMPS,133.875,63.495,2363.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,65.611,0.000,0.000,0.000
$MEM,312968
$DATA_FILE_SIZE,10485,316
$CAP_FILE_SIZE,67042,0
$CFSIZE,1023623168,1019412480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,134130,4743.332,-12224.610,5,0.8,23,16.3,0.2,25.5,11,5.0