version: 66.14
glider: 401
mission: 25
dive: 19
start: 5 1 118 16 22 17
data:
$ID,401
$MISSION,25
$DIVE,19
$N_DIVES,30
$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,50
$T_MISSION,60
$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,350
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73949
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14
$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,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2575
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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
$GPS1,010518,155917,4742.6714,-12224.5361,8,0.8,23,16.3,0.4,43.8,9,5.0
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-53.6
$GPS2,010518,162125,4742.8311,-12224.2393,10,0.9,68,16.3,0.0,199.7,9,19.5
$SPEED_LIMITS,0.143,0.375
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.266245,-0.264005
$KALMAN_X,-2661.934570,809.054688,-209.097717,2538.745117,396.278564
$KALMAN_Y,-2990.878906,7.391220,-288.435242,2993.116455,429.897034
$MHEAD_RNG_PITCHd_Wd,208.9,930,-14.6,-12.000,-17.75,4354
$D_GRID,164
$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,7,-1.45,-342.1,244,2141,2211,1692,0.0,0.0,0,13,0.00,0.00,-5.18,0.000,16390,0.000,0.000,243,2145,2952,2952,2040,0,0,0,0,0,0,26.36,25.33,26.38,10.10,38.54
$GC,14,-1.45,-342.1,241,2140,2952,2040,0.0,0.0,0,37,18.85,2.30,0.00,0.000,2308,0.119,0.058,1794,3015,2953,2953,2046,0,0,0,0,0,0,26.03,26.06,26.10,10.26,38.69
$GC,264,-1.45,-342.1,1793,3016,2959,2046,35.0,-10.2,42,269,0.00,2.17,0.00,0.000,1030,0.000,0.026,1794,2155,2958,2958,2044,0,0,0,0,0,0,26.41,26.39,26.47,10.28,39.01
$GC,330,-1.45,-342.1,1795,2149,2958,2044,41.4,-9.4,49,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2148,2959,2959,2046,0,0,0,0,0,0,26.63,26.65,26.65,10.28,38.38
$GC,390,-1.45,-342.1,1792,2149,2959,2046,47.2,-9.3,55,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2148,2958,2958,2046,0,0,0,0,0,0,26.67,26.68,26.68,10.28,38.46
$GC,450,-1.45,-342.1,1793,2149,2960,2046,52.9,-9.6,61,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2148,2959,2959,2046,0,0,0,0,0,0,26.70,26.72,26.74,10.28,38.77
$GC,510,-1.45,-342.1,1794,2149,2960,2046,59.5,-11.4,67,515,0.00,2.25,0.00,0.000,516,0.000,0.053,1794,1284,2960,2960,2046,0,0,0,0,0,0,26.73,26.42,26.74,10.28,39.32
$GC,582,-1.45,-342.1,1793,1284,2964,2046,66.6,-8.7,79,587,0.00,2.15,0.00,0.000,1030,0.000,0.029,1794,2149,2961,2961,2046,0,0,0,0,0,0,26.55,26.50,26.59,10.28,38.81
$GC,648,-1.45,-342.1,1795,2148,2961,2046,73.0,-9.4,86,648,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2147,2962,2962,2043,0,0,0,0,0,0,26.79,26.80,26.79,10.28,38.62
$GC,708,-1.45,-342.1,1795,2148,2963,2043,78.6,-9.5,92,709,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2147,2963,2963,2046,0,0,0,0,0,0,26.80,26.82,26.82,10.28,38.77
$GC,767,-1.45,-342.1,1793,2148,2966,2046,85.6,-12.1,98,773,0.00,2.28,0.00,0.000,516,0.000,0.051,1796,1278,2965,2965,2044,0,0,0,0,0,0,26.82,26.52,26.84,10.28,38.69
$GC,887,-1.45,-342.1,1793,1279,2968,2044,100.7,-13.0,118,893,0.00,2.12,0.00,0.000,1030,0.000,0.028,1790,2140,2966,2966,2051,0,0,0,0,0,0,26.67,26.60,26.70,10.28,38.93
$GC,954,-1.45,-342.1,1793,2141,2973,2051,108.8,-12.3,125,954,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2140,2967,2967,2054,0,0,0,0,0,0,26.88,26.89,26.89,10.28,39.01
$GC,1014,-1.45,-342.1,1794,2141,2965,2054,115.4,-10.8,131,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2136,2965,2965,2046,0,0,0,0,0,0,26.89,26.91,26.91,10.28,39.01
$GC,1074,-1.45,-342.1,1793,2141,2968,2046,122.0,-11.1,137,1079,0.00,2.22,0.00,0.000,516,0.000,0.052,1794,1280,2966,2966,2046,0,0,0,0,0,0,26.89,26.60,26.91,10.28,39.21
$GC,1152,-1.45,-342.1,1793,1284,2968,2046,131.0,-11.9,150,1157,0.00,2.10,0.00,0.000,1030,0.000,0.028,1790,2137,2967,2967,2046,0,0,0,0,0,0,26.72,26.66,26.75,10.28,39.48
$GC,1218,-1.45,-342.1,1794,2138,2968,2046,138.1,-10.6,157,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2137,2968,2968,2047,0,0,0,0,0,0,26.92,26.94,26.94,10.27,39.09
$GC,1278,-1.45,-342.1,1794,2138,2969,2047,144.7,-10.9,163,1283,0.00,2.22,0.00,0.000,516,0.000,0.051,1793,1283,2971,2971,2046,0,0,0,0,0,0,26.94,26.63,26.95,10.27,39.01
$GC,1374,-1.45,-342.1,1793,1285,2969,2046,155.6,-11.8,179,1379,0.00,2.05,0.00,0.000,1030,0.000,0.028,1793,2122,2970,2970,2040,0,0,0,0,0,0,26.77,26.70,26.79,10.27,38.93
$GC,1440,-1.45,-342.1,1793,2123,2972,2040,158.6,-0.5,186,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2123,2969,2969,2046,0,0,0,0,0,0,26.96,26.98,26.98,10.28,39.21
$GC,1500,-1.45,-342.1,1794,2123,2969,2046,158.6,-0.0,192,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2123,2970,2970,2047,0,0,0,0,0,0,26.98,26.98,26.98,10.32,39.56
$GC,1559,-1.45,-342.1,1795,2123,2970,2047,158.6,0.0,198,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2123,2970,2970,2046,0,0,0,0,0,0,27.00,27.00,26.99,10.27,39.72
$GC,1620,-1.45,-342.1,1793,2124,2972,2046,158.6,-0.0,204,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2122,2970,2970,2046,0,0,0,0,0,0,26.99,27.01,27.01,10.28,39.80
$GC,1680,-1.45,-342.1,1793,2124,2972,2046,158.6,-0.0,210,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2123,2970,2970,2046,0,0,0,0,0,0,27.01,27.01,27.01,10.27,39.40
$GC,1739,-1.45,-342.1,1794,2123,2970,2046,158.6,0.0,216,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2123,2971,2971,2046,0,0,0,0,0,0,27.01,27.02,27.02,10.27,40.27
$GC,1800,-1.45,-342.1,1794,2123,2970,2046,158.5,-0.0,222,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2122,2970,2970,2046,0,0,0,0,0,0,27.01,27.03,27.03,10.27,39.95
$STATE,1809,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1809,begin apogee
$GC,1811,-0.36,0.0,1794,2160,2971,2046,158.5,0.0,223,1840,3.70,0.00,21.08,2.205,10244,0.036,0.000,2157,2159,2579,2579,2042,0,0,0,0,0,0,26.77,25.67,24.41,10.30,39.95
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1841,begin climb
$GC,1841,1.45,342.1,2158,2160,2579,2042,158.5,0.0,226,1870,5.90,0.00,20.85,2.168,11270,0.034,0.000,2724,2159,2206,2206,2046,0,0,0,0,0,0,25.83,25.99,23.69,10.18,39.48
$GC,1930,1.46,345.8,2719,2160,2207,2046,150.4,11.9,237,1932,0.00,0.00,1.65,0.002,8198,0.000,0.000,2715,2159,2210,2210,2045,0,0,0,0,0,0,25.78,25.77,25.78,10.10,38.93
$GC,1990,1.48,368.1,2719,2160,2205,2045,143.4,11.5,243,1994,0.08,0.00,3.20,0.855,10246,0.099,0.000,2735,2159,2174,2174,2045,0,0,0,0,0,0,25.82,25.60,24.41,10.09,38.77
$GC,2049,1.48,368.1,2735,2159,2180,2045,135.7,12.8,249,2055,0.00,2.35,0.00,0.000,516,0.000,0.054,2736,1285,2170,2170,2046,0,0,0,0,0,0,26.13,25.83,26.14,10.08,39.05
$GC,2092,1.51,390.4,2737,1283,2177,2046,131.0,11.5,256,2098,0.00,2.17,3.15,0.791,9222,0.000,0.027,2732,2150,2144,2144,2046,0,0,0,0,0,0,26.04,25.97,24.70,10.08,39.40
$GC,2157,1.51,390.4,2737,2146,2151,2046,122.3,13.1,263,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2145,2147,2147,2046,0,0,0,0,0,0,26.28,26.29,26.29,10.07,39.17
$GC,2218,1.51,390.4,2737,2146,2149,2046,114.1,13.6,269,2223,0.00,2.30,0.00,0.000,516,0.000,0.054,2733,1287,2148,2148,2046,0,0,0,0,0,0,26.37,26.07,26.38,10.07,39.88
$GC,2253,1.51,390.4,2735,1284,2148,2046,109.6,12.5,275,2259,0.00,2.15,0.00,0.000,1030,0.000,0.027,2736,2137,2141,2141,2046,0,0,0,0,0,0,26.22,26.16,26.27,10.07,39.17
$GC,2320,1.52,401.5,2735,2142,2146,2046,101.8,11.7,282,2323,0.00,0.00,1.77,0.002,8198,0.000,0.000,2743,2141,2144,2144,2046,0,0,0,0,0,0,26.48,26.46,26.46,10.07,39.52
$GC,2379,1.52,401.5,2735,2142,2141,2046,94.3,12.4,288,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2141,2139,2139,2046,0,0,0,0,0,0,26.54,26.55,26.55,10.06,39.91
$GC,2440,1.52,403.4,2735,2142,2140,2046,87.1,12.0,294,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2141,2138,2138,2046,0,0,0,0,0,0,26.58,26.60,26.60,10.07,39.40
$GC,2500,1.53,404.9,2736,2141,2133,2046,79.7,12.0,300,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2141,2133,2133,2046,0,0,0,0,0,0,26.63,26.62,26.64,10.07,39.64
$GC,2560,1.59,455.1,2743,2142,2127,2046,73.0,10.8,306,2568,0.25,2.28,4.07,0.812,10756,0.047,0.057,2769,1283,2077,2077,2046,0,0,0,0,0,0,26.46,26.27,25.32,10.06,39.91
$GC,2602,1.63,492.0,2768,1284,2080,2046,68.4,11.1,313,2609,0.00,2.12,3.42,0.650,9222,0.000,0.027,2775,2145,2046,2046,2050,0,0,0,0,0,0,26.43,26.36,25.33,10.05,39.52
$GC,2668,1.78,613.2,2770,2140,2045,2050,62.1,9.2,320,2678,0.52,0.00,8.25,1.112,10246,0.032,0.000,2827,2139,1910,1910,2046,0,0,0,0,0,0,26.40,26.07,25.24,10.05,39.05
$GC,2738,1.78,613.2,2828,2139,1908,2046,52.5,14.6,327,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2139,1908,1908,2046,0,0,0,0,0,0,26.48,26.50,26.49,10.01,39.76
$GC,2798,1.78,613.2,2828,2140,1906,2046,43.3,15.8,333,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2139,1907,1907,2046,0,0,0,0,0,0,26.52,26.55,26.55,10.01,40.07
$GC,2858,1.78,613.2,2828,2142,1906,2046,31.3,20.6,339,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2139,1906,1906,2046,0,0,0,0,0,0,26.59,26.61,26.60,10.02,40.03
$GC,2918,1.78,613.2,2827,2140,1908,2046,17.0,24.2,345,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2140,1907,1907,2046,0,0,0,0,0,0,26.63,26.65,26.65,10.01,39.52
$GC,2978,1.78,613.2,2828,2150,1907,2046,2.3,22.2,351,2983,0.00,2.38,0.00,0.000,516,0.000,0.080,2828,1286,1913,1913,2046,0,0,0,0,0,0,26.67,26.34,26.68,10.01,39.56
$STATE,2989,end climb,SURFACE_DEPTH_REACHED
$STATE,2989,begin surface coast
$STATE,3007,end surface coast,CONTROL_FINISHED_OK
$STATE,3007,begin surface
$SM_CCo,3100,0.00,0.000,0,0,1911,614.06
$SM_GC,0.99,26.60,2.15,0.00,0.027,0.026,0.000,243,2149,1911,-6.34,-1.37,614.06,0,0,0,0,0,0,26.46,26.44,26.49
$IRIDIUM_FIX,4808.40,-12337.82,010518,150113
$TT8_MAMPS,0.047187,0.33705
$HUMID,39.80
$INTERNAL_PRESSURE,9.91605
$TCM_TEMP,8.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,14.1,12.0
$ALTIM_BOTTOM_PING,120.8,12.0
$SC_FREEKB,3899360
$24V_AH,23.69,3.306
$10V_AH,10.57,4.645
$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,55.900,39.825,67.450,0.000,0.000,139.139,95.667,683.980,1.000,0.000,69.510,0.000,2479.407,173.878,1720.535,62.694,33.439,477.817,0.000,515.626,0.000,11.921,0.000
$DEVICE_MAMPS,118.575,158.355,2204.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3042.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,65.215,0.000,0.000,0.000
$MEM,312928
$DATA_FILE_SIZE,10512,356
$CAP_FILE_SIZE,82779,0
$CFSIZE,1023623168,1018200064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2097.46,0x2139ee,1,24
$GPS,010518,171457,4742.677,-12224.353,37,0.9,38,16.3,0.0,0.0,9,5.0