version: 66.12
glider: 401
mission: 18
dive: 10
start: 2 24 117 3 1 27
data:
$ID,401
$MISSION,18
$DIVE,10
$N_DIVES,25
$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,250
$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,65
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,34
$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
$GPS1,240217,025649,4744.0693,-12224.1992,2,0.8,16,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-40.5
$GPS2,240217,030025,4744.0830,-12224.1729,5,0.8,18,16.3,0.0,0.0,10,4.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.096159,-0.229098
$KALMAN_X,1062.540039,-218.819321,293.695770,-193.116730,1547.767334
$KALMAN_Y,1999.613770,-192.860886,584.981689,634.070801,2613.923584
$MHEAD_RNG_PITCHd_Wd,186.5,3034,-12.3,-10.000,-21.92,3652
$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,15,-1.31,-244.4,242,1991,47,4094,0.0,0.0,0,46,0.00,0.00,-18.55,0.000,16390,0.000,0.000,242,1991,2811,2811,4094,0,0,0,0,0,0,26.39,25.60,26.41,9.01,32.00
$GC,48,-1.31,-244.4,242,1991,2811,4095,1.6,-5.9,2,77,22.65,3.90,0.00,0.000,2308,0.128,0.074,2042,3389,2814,2814,4094,0,0,0,0,0,0,25.75,25.75,25.83,9.54,32.91
$GC,137,-1.31,-244.4,2042,3389,2816,4094,29.1,-16.6,9,152,0.00,3.65,0.00,0.000,1030,0.000,0.040,2042,1996,2817,2817,4095,0,0,0,0,0,0,25.99,25.92,26.02,9.54,32.04
$GC,212,-1.31,-244.4,2042,1995,2818,4094,38.6,-12.7,15,227,0.00,3.95,0.00,0.000,516,0.000,0.082,2042,571,2819,2819,4094,0,0,0,0,0,0,26.35,25.93,26.36,9.54,32.12
$GC,240,-1.31,-244.4,2042,571,2819,4095,42.5,-13.2,17,255,0.00,3.60,0.00,0.000,1030,0.000,0.041,2042,1967,2820,2820,4095,0,0,0,0,0,0,26.10,26.04,26.15,9.54,32.63
$GC,315,-1.31,-244.4,2042,1968,2821,4094,51.7,-12.1,23,330,0.00,4.05,0.00,0.000,260,0.000,0.083,2042,3414,2821,2821,4094,0,0,0,0,0,0,26.44,26.01,26.46,9.54,31.84
$GC,343,-1.31,-244.4,2042,3414,2821,4094,55.7,-13.1,25,358,0.00,3.72,0.00,0.000,1030,0.000,0.042,2042,1988,2822,2822,4094,0,0,0,0,0,0,26.17,26.11,26.20,9.54,32.59
$GC,418,-1.31,-244.4,2042,1988,2824,4095,66.2,-14.0,31,433,0.00,3.92,0.00,0.000,516,0.000,0.083,2042,567,2824,2824,4094,0,0,0,0,0,0,26.51,26.07,26.53,9.54,31.76
$GC,458,-1.31,-244.4,2042,567,2825,4094,72.1,-14.6,34,473,0.00,3.67,0.00,0.000,1030,0.000,0.041,2042,1997,2825,2825,4094,0,0,0,0,0,0,26.25,26.19,26.28,9.54,32.39
$GC,533,-1.31,-244.4,2042,1998,2827,4094,83.0,-14.5,40,547,0.00,3.92,0.00,0.000,260,0.000,0.084,2042,3405,2827,2827,4094,0,0,0,0,0,0,26.57,26.13,26.58,9.54,31.76
$GC,574,-1.31,-244.4,2042,3405,2828,4095,89.0,-14.8,43,588,0.00,3.67,0.00,0.000,1030,0.000,0.041,2042,1988,2829,2829,4095,0,0,0,0,0,0,26.30,26.25,26.34,9.54,32.31
$GC,648,-1.31,-244.4,2042,1987,2830,4095,99.2,-13.2,49,666,0.00,3.90,0.00,0.000,516,0.000,0.082,2042,567,2831,2831,4094,0,0,0,0,0,0,26.62,26.17,26.63,9.54,31.80
$GC,679,-1.31,-244.4,2042,567,2831,4094,103.6,-13.9,51,694,0.00,3.62,0.00,0.000,1030,0.000,0.043,2042,1984,2832,2832,4094,0,0,0,0,0,0,26.33,26.27,26.36,9.54,31.61
$GC,754,-1.31,-244.4,2042,1984,2834,4094,113.8,-13.6,57,769,0.00,3.95,0.00,0.000,260,0.000,0.085,2042,3402,2834,2834,4094,0,0,0,0,0,0,26.65,26.20,26.67,9.54,31.68
$GC,806,-1.31,-244.4,2042,3402,2835,4094,121.0,-13.8,61,820,0.00,3.65,0.00,0.000,1030,0.000,0.041,2042,1990,2836,2836,4094,0,0,0,0,0,0,26.38,26.32,26.41,9.54,31.61
$GC,881,-1.31,-244.4,2042,1990,2838,4095,131.1,-13.9,67,895,0.00,3.90,0.00,0.000,516,0.000,0.083,2042,567,2838,2838,4094,0,0,0,0,0,0,26.69,26.24,26.70,9.55,31.45
$GC,921,-1.31,-244.4,2042,567,2839,4094,137.6,-15.9,70,935,0.00,3.62,0.00,0.000,1030,0.000,0.043,2042,1985,2840,2840,4094,0,0,0,0,0,0,26.41,26.34,26.44,9.55,31.37
$GC,995,-1.31,-244.4,2042,1986,2842,4094,148.9,-14.9,76,1010,0.00,3.95,0.00,0.000,260,0.000,0.085,2042,3405,2842,2842,4094,0,0,0,0,0,0,26.72,26.26,26.73,9.55,31.84
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1030,-0.33,0.0,2042,1986,2843,4094,153.3,-15.0,78,1058,3.50,0.00,17.50,2.043,10246,0.070,0.000,2364,1987,2519,2519,4095,0,0,0,0,0,0,26.37,25.19,24.14,9.55,31.57
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1060,1.31,244.4,2364,1986,2520,4094,157.1,0.0,80,1090,5.50,4.07,15.98,2.010,10500,0.045,0.074,2881,3409,2234,2234,4095,0,0,0,0,0,0,25.77,24.70,23.67,9.50,31.84
$GC,1115,1.31,244.4,2880,3408,2234,4094,154.4,7.8,84,1130,0.00,3.83,0.00,0.000,1030,0.000,0.042,2881,1988,2234,2234,4094,0,0,0,0,0,0,25.48,25.44,25.52,9.44,31.25
$GC,1190,1.36,268.4,2880,1988,2233,4094,147.3,9.3,90,1206,0.10,4.05,3.28,0.858,10756,0.077,0.086,2898,568,2205,2205,4095,0,0,0,0,0,0,25.81,25.22,24.18,9.43,31.68
$GC,1243,1.36,268.4,2898,568,2205,4094,141.4,11.0,94,1257,0.00,3.67,0.00,0.000,1030,0.000,0.039,2898,1984,2204,2204,4094,0,0,0,0,0,0,25.84,25.79,25.86,9.43,31.33
$GC,1318,1.36,268.4,2898,1984,2203,4094,133.1,10.9,100,1332,0.00,3.97,0.00,0.000,260,0.000,0.077,2898,3407,2202,2202,4094,0,0,0,0,0,0,26.22,25.83,26.24,9.43,31.09
$GC,1369,1.36,268.4,2898,3407,2201,4094,126.8,12.2,104,1384,0.00,3.72,0.00,0.000,1030,0.000,0.041,2898,1992,2200,2200,4094,0,0,0,0,0,0,26.03,25.96,26.06,9.43,31.25
$GC,1444,1.36,268.4,2898,1992,2199,4094,118.4,11.1,110,1459,0.00,3.97,0.00,0.000,516,0.000,0.088,2899,574,2198,2198,4094,0,0,0,0,0,0,26.38,25.95,26.39,9.43,31.92
$GC,1507,1.36,268.4,2898,573,2197,4094,110.7,12.3,115,1522,0.00,3.62,0.00,0.000,1030,0.000,0.037,2898,1991,2196,2196,4094,0,0,0,0,0,0,26.16,26.11,26.20,9.42,31.21
$GC,1582,1.36,268.4,2898,1991,2195,4094,102.2,11.2,121,1597,0.00,3.90,0.00,0.000,260,0.000,0.076,2898,3404,2194,2194,4094,0,0,0,0,0,0,26.48,26.10,26.50,9.42,31.84
$GC,1645,1.36,268.4,2898,3403,2193,4094,93.4,14.5,126,1659,0.00,3.67,0.00,0.000,1030,0.000,0.041,2899,1992,2192,2192,4094,0,0,0,0,0,0,26.24,26.17,26.28,9.42,31.21
$GC,1719,1.36,268.4,2898,1992,2190,4095,84.0,11.8,132,1734,0.00,3.95,0.00,0.000,516,0.000,0.086,2898,568,2191,2191,4094,0,0,0,0,0,0,26.57,26.14,26.58,9.42,31.09
$GC,1771,1.36,268.4,2898,568,2189,4095,78.0,11.9,136,1785,0.00,3.60,0.00,0.000,1030,0.000,0.037,2898,1986,2189,2189,4094,0,0,0,0,0,0,26.32,26.27,26.35,9.43,31.76
$GC,1846,1.36,268.4,2898,1986,2187,4094,69.8,11.0,142,1860,0.00,3.90,0.00,0.000,260,0.000,0.076,2898,3405,2187,2187,4094,0,0,0,0,0,0,26.62,26.20,26.63,9.42,31.09
$GC,1885,1.36,268.4,2898,3405,2186,4094,64.9,12.0,145,1900,0.00,3.67,0.00,0.000,1030,0.000,0.042,2898,1989,2186,2186,4094,0,0,0,0,0,0,26.35,26.29,26.38,9.42,31.21
$GC,1960,1.36,268.4,2898,1989,2184,4094,56.8,10.0,151,1974,0.00,3.95,0.00,0.000,516,0.000,0.087,2899,563,2184,2184,4094,0,0,0,0,0,0,26.66,26.22,26.67,9.42,31.33
$GC,2046,1.37,271.0,2898,564,2182,4094,48.4,9.9,158,2061,0.00,3.60,0.00,0.000,1030,0.000,0.036,2898,1991,2182,2182,4094,0,0,0,0,0,0,26.42,26.37,26.45,9.41,31.21
$GC,2121,1.40,290.0,2898,1991,2181,4094,41.1,9.5,164,2136,0.00,3.88,0.00,0.000,260,0.000,0.076,2898,3406,2181,2181,4094,0,0,0,0,0,0,26.71,26.28,26.72,9.41,31.09
$GC,2184,1.40,290.0,2898,3406,2179,4094,34.0,11.8,169,2199,0.00,3.67,0.00,0.000,1030,0.000,0.041,2898,1984,2178,2178,4094,0,0,0,0,0,0,26.43,26.38,26.47,9.42,31.21
$GC,2259,1.40,290.0,2898,1984,2177,4094,26.0,10.4,175,2273,0.00,3.90,0.00,0.000,516,0.000,0.087,2899,568,2176,2176,4094,0,0,0,0,0,0,26.74,26.29,26.75,9.42,31.13
$GC,2310,1.41,294.2,2898,569,2176,4094,21.0,9.9,179,2326,0.00,3.58,0.00,0.000,1030,0.000,0.038,2899,1983,2175,2175,4094,0,0,0,0,0,0,26.47,26.42,26.51,9.41,31.17
$GC,2386,1.62,399.5,2898,1983,2174,4094,15.3,7.1,185,2403,0.75,3.88,7.03,0.581,10500,0.034,0.075,2978,3415,2051,2051,4094,0,0,0,0,0,0,26.53,26.05,25.56,9.41,31.72
$GC,2451,1.62,399.5,2978,3415,2050,4094,9.0,10.2,190,2466,0.00,3.67,0.00,0.000,1030,0.000,0.041,2978,1994,2050,2050,4094,0,0,0,0,0,0,26.41,26.35,26.45,9.39,31.72
$GC,2528,1.93,551.5,2978,1994,2049,4094,3.1,5.7,196,2557,0.93,3.92,9.02,0.532,10756,0.031,0.086,3077,574,1874,1874,4094,0,0,0,0,0,0,26.48,26.18,25.61,9.39,31.02
$STATE,2570,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FINISH,0.4,1.019618
$STATE,2584,end surface coast,CONTROL_FINISHED_OK
$STATE,2584,begin surface
$SM_CCo,2683,0.00,0.000,0,0,1873,555.51
$SM_GC,1.32,29.25,3.65,0.00,0.029,0.039,0.000,242,2005,1873,-6.98,-0.59,555.51,0,0,0,0,0,0,26.34,26.34,26.40
$IRIDIUM_FIX,4748.51,-12337.82,240217,024936
$TT8_MAMPS,0.025466,0.206724
$HUMID,31.05
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,7.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,5.4
$ALTIM_BOTTOM_PING,100.9,4.7
$24V_AH,23.67,3.500
$10V_AH,9.62,3.744
$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,62.675,159.775,52.800,0.000,0.000,0.000,0.000,0.000,0.750,0.000,20.057,570.488,60.036,223.359,1878.945,29.008,33.425,832.094,0.000,298.777,0.000,7.153,0.000
$DEVICE_MAMPS,127.755,136.935,2042.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.323,256.230,0.000,1039.361,1836.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,17576,200
$CAP_FILE_SIZE,65365,16
$CFSIZE,1024409600,1017757696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240217,034701,4743.984,-12224.298,3,0.8,19,16.3,0.0,0.0,10,4.9