version: 66.12
glider: 401
mission: 18
dive: 7
start: 2 24 117 1 19 40
data:
$ID,401
$MISSION,18
$DIVE,7
$N_DIVES,15
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,65
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74087
$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,2479
$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,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2520
$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,-50.917877
$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,1
$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,2936.3699
$GPS1,240217,010430,4743.8442,-12224.7637,52,0.9,210,16.3,0.0,0.0,11,8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-65.8
$GPS2,240217,011841,4743.8989,-12224.6953,5,0.8,24,16.3,0.0,0.0,10,5.0
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.038186,-0.221559
$KALMAN_X,-261.080231,-266.017517,-66.898552,883.210205,95.871979
$KALMAN_Y,-150.588226,-342.098541,-123.230797,3291.373291,281.611023
$MHEAD_RNG_PITCHd_Wd,173.5,2594,-15.0,-10.000,-23.98,2935
$D_GRID,174
$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,16,-1.39,-195.5,242,1993,2161,4094,0.0,0.0,0,33,0.00,0.00,-3.58,0.000,16390,0.000,0.000,242,1993,2756,2756,4094,0,0,0,0,0,0,26.47,24.88,26.47,9.40,32.51
$GC,35,-1.39,-195.5,242,1993,2756,4094,2.2,0.0,1,65,22.85,2.33,0.00,0.000,2308,0.136,0.061,2020,2856,2759,2759,4095,0,0,0,0,0,0,25.73,25.78,25.83,9.53,32.51
$GC,148,-1.39,-195.5,2020,2856,2762,4094,30.9,-15.1,10,162,0.00,2.25,0.00,0.000,1030,0.000,0.034,2020,1985,2762,2762,4095,0,0,0,0,0,0,26.05,26.00,26.08,9.53,32.16
$GC,223,-1.39,-195.5,2020,1984,2764,4094,41.6,-13.7,16,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1984,2764,2764,4094,0,0,0,0,0,0,26.40,26.42,26.41,9.53,32.55
$GC,296,-1.39,-195.5,2020,1984,2766,4094,51.7,-13.7,22,311,0.00,2.30,0.00,0.000,516,0.000,0.066,2020,1122,2766,2766,4094,0,0,0,0,0,0,26.47,26.07,26.48,9.54,31.68
$GC,336,-1.39,-195.5,2020,1122,2767,4094,57.4,-14.4,25,351,0.00,2.17,0.00,0.000,1030,0.000,0.036,2020,1984,2768,2768,4094,0,0,0,0,0,0,26.22,26.17,26.25,9.54,31.72
$GC,411,-1.39,-195.5,2020,1985,2768,4094,67.5,-13.4,31,425,0.00,2.38,0.00,0.000,260,0.000,0.067,2020,2865,2770,2770,4094,0,0,0,0,0,0,26.55,26.14,26.56,9.54,32.12
$GC,451,-1.39,-195.5,2020,2865,2770,4095,73.0,-13.7,34,465,0.00,2.25,0.00,0.000,1030,0.000,0.035,2020,1986,2770,2770,4095,0,0,0,0,0,0,26.29,26.24,26.33,9.54,31.41
$GC,525,-1.39,-195.5,2020,1985,2773,4094,83.7,-14.5,40,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1985,2773,2773,4094,0,0,0,0,0,0,26.61,26.63,26.62,9.54,31.84
$GC,599,-1.39,-195.5,2020,1985,2774,4094,94.0,-14.0,46,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1985,2775,2775,4094,0,0,0,0,0,0,26.65,26.66,26.66,9.54,31.96
$GC,677,-1.39,-195.5,2019,1985,2777,4094,104.5,-13.3,52,692,0.00,2.38,0.00,0.000,260,0.000,0.064,2020,2865,2777,2777,4095,0,0,0,0,0,0,26.68,26.27,26.70,9.54,31.29
$GC,705,-1.39,-195.5,2020,2864,2778,4095,108.6,-13.9,54,720,0.00,2.22,0.00,0.000,1030,0.000,0.037,2020,1990,2778,2778,4095,0,0,0,0,0,0,26.41,26.35,26.44,9.54,31.41
$GC,780,-1.39,-195.5,2020,1989,2780,4095,119.6,-14.9,60,795,0.00,2.30,0.00,0.000,516,0.000,0.067,2020,1121,2781,2781,4094,0,0,0,0,0,0,26.72,26.29,26.72,9.54,31.61
$GC,808,-1.39,-195.5,2020,1121,2782,4094,123.8,-14.9,62,823,0.00,2.20,0.00,0.000,1030,0.000,0.037,2020,1996,2782,2782,4095,0,0,0,0,0,0,26.44,26.38,26.47,9.54,31.88
$GC,883,-1.39,-195.5,2020,1996,2784,4094,134.7,-14.3,68,898,0.00,2.30,0.00,0.000,260,0.000,0.067,2020,2855,2785,2785,4094,0,0,0,0,0,0,26.74,26.32,26.76,9.54,31.25
$GC,912,-1.39,-195.5,2020,2855,2785,4094,138.9,-14.5,70,926,0.00,2.20,0.00,0.000,1030,0.000,0.036,2020,1989,2785,2785,4094,0,0,0,0,0,0,26.46,26.41,26.49,9.54,31.09
$GC,986,-1.39,-195.5,2020,1989,2788,4094,149.7,-14.5,76,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1989,2789,2789,4094,0,0,0,0,0,0,26.77,26.78,26.78,9.54,31.37
$STATE,1013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1013,begin apogee
$GC,1016,-0.33,0.0,2020,1989,2789,4094,153.8,-14.9,78,1045,3.78,0.00,14.85,1.981,10246,0.076,0.000,2363,1987,2521,2521,4094,0,0,0,0,0,0,26.39,25.33,24.30,9.54,31.65
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1047,1.39,195.5,2362,1987,2521,4094,157.2,0.0,80,1076,5.75,2.40,13.30,1.943,10500,0.044,0.055,2906,2854,2290,2290,4094,0,0,0,0,0,0,25.94,24.92,23.89,9.50,31.25
$GC,1101,1.39,195.5,2905,2854,2289,4094,154.9,7.7,84,1116,0.00,2.28,0.00,0.000,1030,0.000,0.037,2906,1993,2289,2289,4094,0,0,0,0,0,0,25.63,25.59,25.67,9.45,30.82
$GC,1176,1.52,257.7,2906,1993,2288,4094,148.6,7.8,90,1192,0.38,2.40,5.12,1.336,10756,0.042,0.069,2948,1121,2223,2223,4094,0,0,0,0,0,0,25.88,25.23,24.20,9.45,31.49
$GC,1229,1.52,257.7,2947,1121,2221,4094,143.1,10.5,94,1244,0.00,2.20,0.00,0.000,1030,0.000,0.032,2948,1986,2222,2222,4094,0,0,0,0,0,0,25.86,25.82,25.89,9.45,31.72
$GC,1304,1.52,257.7,2947,1987,2220,4094,134.1,12.0,100,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1987,2219,2219,4095,0,0,0,0,0,0,26.25,26.27,26.27,9.44,31.45
$GC,1378,1.52,257.7,2947,1987,2218,4094,125.1,12.1,106,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1987,2217,2217,4094,0,0,0,0,0,0,26.35,26.36,26.36,9.44,31.25
$GC,1452,1.52,257.7,2947,1987,2215,4094,116.0,12.3,112,1466,0.00,2.33,0.00,0.000,260,0.000,0.058,2948,2858,2215,2215,4094,0,0,0,0,0,0,26.43,26.06,26.44,9.43,31.29
$GC,1503,1.52,257.7,2947,2858,2214,4094,109.5,12.6,116,1518,0.00,2.25,0.00,0.000,1030,0.000,0.037,2948,1988,2213,2213,4094,0,0,0,0,0,0,26.19,26.14,26.22,9.43,31.33
$GC,1578,1.52,257.7,2947,1988,2211,4094,99.8,12.7,122,1592,0.00,2.35,0.00,0.000,516,0.000,0.071,2948,1114,2211,2211,4094,0,0,0,0,0,0,26.52,26.11,26.53,9.43,31.25
$GC,1652,1.52,257.7,2947,1114,2209,4094,90.4,13.0,128,1667,0.00,2.17,0.00,0.000,1030,0.000,0.033,2948,1985,2209,2209,4094,0,0,0,0,0,0,26.30,26.25,26.33,9.43,31.33
$GC,1727,1.52,257.7,2947,1985,2207,4094,81.1,12.4,134,1741,0.00,2.30,0.00,0.000,260,0.000,0.059,2948,2851,2207,2207,4094,0,0,0,0,0,0,26.60,26.22,26.62,9.43,31.53
$GC,1813,1.52,257.7,2947,2851,2205,4094,70.4,12.3,141,1828,0.00,2.20,0.00,0.000,1030,0.000,0.037,2948,1992,2204,2204,4094,0,0,0,0,0,0,26.36,26.31,26.39,9.42,31.37
$GC,1888,1.52,257.7,2947,1992,2202,4094,61.6,11.6,147,1902,0.00,2.33,0.00,0.000,516,0.000,0.070,2948,1119,2202,2202,4094,0,0,0,0,0,0,26.67,26.26,26.69,9.42,31.33
$GC,1963,1.52,257.7,2947,1119,2200,4094,53.0,11.7,153,1977,0.00,2.15,0.00,0.000,1030,0.000,0.031,2948,1989,2200,2200,4094,0,0,0,0,0,0,26.44,26.40,26.46,9.42,31.17
$GC,2037,1.52,257.7,2947,1989,2198,4094,44.1,12.0,159,2052,0.00,2.33,0.00,0.000,516,0.000,0.068,2948,1123,2198,2198,4094,0,0,0,0,0,0,26.72,26.30,26.74,9.42,31.88
$GC,2077,1.52,257.7,2947,1123,2197,4094,39.0,12.7,162,2092,0.00,2.15,0.00,0.000,1030,0.000,0.032,2948,1990,2197,2197,4094,0,0,0,0,0,0,26.46,26.42,26.50,9.43,31.21
$GC,2152,1.52,257.7,2947,1990,2195,4094,30.3,11.7,168,2166,0.00,2.28,0.00,0.000,260,0.000,0.060,2948,2852,2195,2195,4094,0,0,0,0,0,0,26.75,26.36,26.77,9.42,31.21
$GC,2226,1.52,257.7,2948,2853,2193,4094,21.1,12.9,174,2242,0.00,2.20,0.00,0.000,1030,0.000,0.037,2948,1989,2192,2192,4095,0,0,0,0,0,0,26.48,26.44,26.52,9.42,31.53
$GC,2302,1.52,257.7,2948,1989,2190,4094,12.4,10.8,180,2316,0.00,2.30,0.00,0.000,516,0.000,0.070,2948,1122,2191,2191,4094,0,0,0,0,0,0,26.79,26.36,26.80,9.42,31.88
$GC,2458,1.89,444.4,2947,1122,2189,4094,3.9,3.5,193,2475,1.15,2.12,9.62,0.551,11270,0.029,0.030,3067,1994,2000,2000,4094,0,0,0,0,0,0,26.55,26.53,25.67,9.42,31.45
$STATE,2499,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,0.1,1.013304
$STATE,2570,end surface coast,CONTROL_FINISHED_OK
$STATE,2571,begin surface
$SM_CCo,2666,0.00,0.000,0,0,1998,448.19
$SM_GC,2.15,29.12,0.00,0.00,0.029,0.000,0.000,242,1994,1998,-6.98,0.18,448.19,0,0,0,0,0,0,26.46,26.76,26.51
$IRIDIUM_FIX,4748.51,-12337.82,240217,011431
$TT8_MAMPS,0.026215,0.226198
$HUMID,31.29
$INTERNAL_PRESSURE,9.31056
$TCM_TEMP,7.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,100.9,4.7
$24V_AH,23.89,3.309
$10V_AH,9.60,3.670
$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,63.025,68.000,42.900,0.000,0.000,134.064,122.753,243.841,1.250,0.000,25.548,567.845,299.648,192.178,2441.670,37.043,33.445,746.168,0.000,319.282,0.000,7.217,0.000
$DEVICE_MAMPS,136.170,71.145,1980.585,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.425,259.065,0.000,1050.126,1855.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322204
$DATA_FILE_SIZE,17641,202
$CAP_FILE_SIZE,57436,0
$CFSIZE,1024409600,1017921536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240217,020502,4743.801,-12224.618,3,0.8,24,16.3,0.0,0.0,10,4.1