version: 66.14
glider: 403
mission: 4
dive: 7
start: 4 12 118 4 37 12
data:
$ID,403
$MISSION,4
$DIVE,7
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$D_ABORT,200
$D_NO_BLEED,50
$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,95
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74303
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,370
$N_FILEKB,8
$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,50
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,60840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,520
$PITCH_MAX,3845
$C_PITCH,2878
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12
$PITCH_TIMEOUT,45
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3840
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,290
$VBD_MAX,3706
$C_VBD,1995
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$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,20
$AH0_24V,150
$AH0_10V,280
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,1
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.784832
$PRESSURE_SLOPE,2.6182999e-05
$AD7714Ch0Gain,1
$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,2
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.5
$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,145
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044036745
$SEABIRD_T_H,0.00064191263
$SEABIRD_T_I,2.5792477e-05
$SEABIRD_T_J,3.2129112e-06
$SEABIRD_C_G,-9.8522949
$SEABIRD_C_H,1.1415073
$SEABIRD_C_I,-0.0017661594
$SEABIRD_C_J,0.00021273457
$SEABIRD_C_Z,2942.1799
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,120418,043116,4742.9663,-12224.1543,11,0.9,21,16.3,0.0,47.9,9,5.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.8
$GPS2,120418,043620,4742.9780,-12224.1367,9,0.9,22,16.3,0.0,4.9,9,5.8
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.119117,0.228467
$KALMAN_X,1591.643555,782.061401,140.876358,-1841.957031,25.601562
$KALMAN_Y,1865.556396,847.796387,294.638702,-3796.718994,95.946960
$MHEAD_RNG_PITCHd_Wd,316.2,2065,-17.6,-10.000,-21.21,2208
$D_GRID,169
$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,8,-1.69,-146.6,523,1906,1592,3401,0.0,0.0,0,13,0.00,0.00,-4.15,0.000,16390,0.000,0.000,523,1907,2160,2160,4094,0,0,0,0,0,0,26.51,25.06,26.52,8.77,31.17
$GC,14,-1.69,-146.6,522,1906,2163,4094,0.0,0.0,0,40,21.83,2.65,0.00,0.000,2820,0.128,0.067,2323,917,2162,2162,4095,0,0,0,0,0,0,26.06,26.08,26.13,8.89,30.78
$GC,78,-1.69,-146.6,2324,918,2162,4095,10.7,-13.0,7,83,0.00,2.53,0.00,0.000,1030,0.000,0.040,2324,1895,2163,2163,4094,0,0,0,0,0,0,26.27,26.20,26.26,8.85,30.78
$GC,143,-1.69,-146.6,2324,1897,2164,4094,18.8,-11.3,14,144,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1896,2165,2165,4091,0,0,0,0,0,0,26.53,26.56,26.54,8.89,30.54
$GC,204,-1.69,-146.6,2318,1896,2164,4091,25.4,-10.8,20,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1894,2166,2166,4092,0,0,0,0,0,0,26.59,26.56,26.58,8.93,30.31
$GC,264,-1.69,-146.6,2324,1894,2172,4092,31.0,-9.0,26,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1896,2166,2166,4088,0,0,0,0,0,0,26.58,26.59,26.60,8.85,30.62
$GC,324,-1.69,-146.6,2324,1898,2168,4088,36.5,-9.0,32,328,0.00,2.70,0.00,0.000,516,0.000,0.070,2323,916,2168,2168,4095,0,0,0,0,0,0,26.63,26.25,26.67,8.85,30.15
$GC,403,-1.69,-146.6,2322,916,2172,4095,45.0,-11.2,40,408,0.00,2.53,0.00,0.000,1030,0.000,0.039,2325,1901,2170,2170,4095,0,0,0,0,0,0,26.38,26.34,26.44,8.89,30.46
$GC,474,-1.69,-146.6,2323,1902,2172,4095,52.6,-10.9,47,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1902,2176,2176,4092,0,0,0,0,0,0,26.65,26.73,26.71,8.97,30.54
$GC,533,-1.69,-146.6,2322,1901,2175,4092,58.9,-10.5,53,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1904,2180,2180,4094,0,0,0,0,0,0,26.66,26.69,26.72,8.88,30.58
$GC,594,-1.69,-146.6,2329,1899,2170,4094,65.0,-9.9,59,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1897,2170,2170,4092,0,0,0,0,0,0,26.71,26.71,26.70,8.86,30.19
$GC,669,-1.69,-146.6,2325,1900,2175,4092,70.7,-9.5,65,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1901,2176,2176,4095,0,0,0,0,0,0,26.66,26.67,26.67,8.89,30.54
$GC,799,-1.69,-146.6,2323,1901,2180,4095,84.3,-10.8,72,821,0.00,2.65,0.00,0.000,516,0.000,0.070,2323,916,2179,2179,4095,0,0,0,0,0,0,26.53,26.23,26.54,8.89,30.23
$GC,868,-1.69,-146.6,2323,917,2182,4095,92.2,-11.3,75,889,0.00,2.47,0.00,0.000,1030,0.000,0.040,2321,1890,2185,2185,4095,0,0,0,0,0,0,26.32,26.27,26.34,8.90,30.31
$GC,1007,-1.69,-146.6,2324,1898,2183,4095,107.6,-11.1,82,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1898,2184,2184,4094,0,0,0,0,0,0,26.44,26.44,26.46,8.90,30.19
$GC,1148,-1.69,-146.6,2323,1898,2189,4094,123.1,-11.2,89,1152,0.00,2.65,0.00,0.000,516,0.000,0.071,2324,922,2187,2187,4095,0,0,0,0,0,0,26.37,25.71,26.44,8.87,30.58
$GC,1201,-1.69,-146.6,2322,922,2187,4095,129.0,-11.4,91,1224,0.00,2.55,0.00,0.000,1030,0.000,0.039,2321,1909,2185,2185,4095,0,0,0,0,0,0,26.17,26.13,26.21,8.90,30.31
$GC,1347,-1.69,-146.6,2323,1909,2194,4095,145.9,-11.3,98,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1908,2193,2193,4095,0,0,0,0,0,0,26.32,26.36,26.34,8.89,29.95
$GC,1486,-1.69,-146.6,2324,1909,2194,4095,161.0,-10.7,105,1490,0.00,2.70,0.00,0.000,516,0.000,0.071,2324,919,2195,2195,4094,0,0,0,0,0,0,26.29,25.90,26.31,8.90,29.99
$STATE,1560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1560,begin apogee
$GC,1565,-0.42,0.0,2324,1900,2197,4094,169.8,-11.7,108,1587,4.47,0.00,15.88,1.555,10246,0.082,0.000,2733,1900,1994,1994,4095,0,0,0,0,0,0,25.99,25.30,24.20,8.94,29.99
$STATE,1588,end apogee,CONTROL_FINISHED_OK
$STATE,1588,begin climb
$GC,1589,1.69,146.6,2735,1901,1994,4095,173.0,0.0,112,1613,6.88,2.70,12.32,1.489,10500,0.042,0.057,3397,2880,1839,1839,4095,0,0,0,0,0,0,25.60,25.05,23.87,8.86,29.79
$GC,1653,1.70,157.3,3399,2876,1838,4095,167.8,9.5,119,1662,0.00,2.62,3.10,0.633,9222,0.000,0.044,3397,1904,1829,1829,4094,0,0,0,0,0,0,25.56,25.53,24.10,8.84,29.48
$GC,1723,1.72,172.2,3397,1904,1823,4094,161.2,9.3,126,1730,0.00,2.75,2.75,0.479,8708,0.000,0.070,3404,919,1816,1816,4094,0,0,0,0,0,0,25.97,25.21,24.27,8.84,29.99
$GC,1818,1.72,172.2,3398,912,1807,4094,150.1,12.3,135,1823,0.00,2.58,0.00,0.000,1030,0.000,0.039,3391,1900,1808,1808,4091,0,0,0,0,0,0,25.91,25.86,25.93,8.86,29.83
$GC,1888,1.72,172.2,3398,1900,1804,4091,142.4,10.8,142,1890,0.05,0.00,0.00,0.000,2054,0.141,0.000,3408,1900,1799,1799,4093,0,0,0,0,0,0,26.04,26.08,26.07,8.87,30.19
$GC,1948,1.72,172.2,3409,1900,1803,4093,136.2,10.4,148,1953,0.00,2.75,0.00,0.000,516,0.000,0.070,3408,913,1804,1804,4094,0,0,0,0,0,0,26.31,25.95,26.30,8.79,30.31
$GC,2028,1.72,172.2,3407,914,1804,4094,127.3,11.4,156,2033,0.00,2.55,0.00,0.000,1030,0.000,0.040,3411,1901,1798,1798,4095,0,0,0,0,0,0,26.14,26.10,26.16,8.82,29.64
$GC,2098,1.72,172.2,3408,1908,1803,4095,119.8,10.7,163,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1899,1800,1800,4094,0,0,0,0,0,0,26.44,26.45,26.44,8.88,30.07
$GC,2158,1.72,172.2,3408,1899,1798,4094,113.5,10.5,169,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1900,1799,1799,4094,0,0,0,0,0,0,26.46,26.48,26.48,8.81,29.60
$GC,2218,1.72,172.2,3408,1898,1799,4094,107.2,10.6,175,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1900,1797,1797,4094,0,0,0,0,0,0,26.52,26.56,26.51,8.82,30.54
$GC,2278,1.72,172.2,3409,1902,1789,4094,101.0,10.4,181,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1899,1796,1796,4094,0,0,0,0,0,0,26.53,26.57,26.55,8.83,30.54
$GC,2338,1.72,172.2,3410,1903,1793,4094,94.6,10.7,187,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1900,1794,1794,4094,0,0,0,0,0,0,26.60,26.60,26.56,8.82,29.72
$GC,2398,1.72,172.2,3404,1899,1789,4094,88.0,11.1,193,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1900,1793,1793,4094,0,0,0,0,0,0,26.58,26.61,26.60,8.81,30.54
$GC,2458,1.72,172.2,3404,1898,1792,4094,81.4,11.2,199,2463,0.00,2.70,0.00,0.000,516,0.000,0.070,3408,920,1791,1791,4095,0,0,0,0,0,0,26.65,26.25,26.63,8.83,30.15
$GC,2513,1.72,172.2,3409,916,1789,4095,75.3,12.4,204,2518,0.00,2.50,0.00,0.000,1030,0.000,0.040,3403,1897,1786,1786,4094,0,0,0,0,0,0,26.39,26.34,26.41,8.87,29.95
$GC,2578,1.72,172.2,3410,1896,1787,4094,67.1,11.3,211,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1895,1788,1788,4094,0,0,0,0,0,0,26.65,26.67,26.69,8.81,30.54
$GC,2638,1.72,172.2,3404,1895,1789,4094,60.2,11.6,217,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1895,1786,1786,4095,0,0,0,0,0,0,26.67,26.69,26.67,8.80,30.11
$GC,2755,1.72,172.2,3409,1896,1783,4095,48.6,11.7,223,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1895,1783,1783,4094,0,0,0,0,0,0,26.52,26.55,26.55,8.81,30.42
$GC,2885,1.72,172.2,3411,1896,1784,4094,33.0,11.9,230,2907,0.00,2.67,0.00,0.000,516,0.000,0.070,3408,912,1778,1778,4095,0,0,0,0,0,0,26.48,26.17,26.52,8.81,30.58
$GC,3071,1.73,176.5,3408,912,1776,4095,13.2,9.8,238,3092,0.00,2.47,0.00,0.000,1030,0.000,0.040,3410,1897,1774,1774,4091,0,0,0,0,0,0,26.24,26.19,26.25,8.82,30.50
$GC,3154,1.84,246.6,3410,1900,1772,4091,5.7,6.8,245,3164,0.32,2.60,4.70,0.388,10500,0.049,0.057,3443,2865,1726,1726,4094,0,0,0,0,0,0,26.22,26.08,25.47,8.88,29.99
$STATE,3203,end climb,SURFACE_DEPTH_REACHED
$STATE,3203,begin surface coast
$STATE,3213,end surface coast,CONTROL_FINISHED_OK
$STATE,3213,begin surface
$SM_CCo,3250,10.02,0.513,0,0,1591,370.28
$SM_GC,2.65,30.20,2.58,10.02,0.036,0.044,0.513,538,1893,1591,-7.30,0.64,370.28,0,0,0,0,0,0,26.20,26.17,25.41
$IRIDIUM_FIX,4808.40,-12337.82,120418,042608
$TT8_MAMPS,0.047187,0.680092
$HUMID,29.56
$INTERNAL_PRESSURE,8.65277
$TCM_TEMP,10.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,17.8,999.0
$SC_FREEKB,3906048
$24V_AH,23.87,3.478
$10V_AH,10.36,4.530
$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,63.750,57.475,38.750,10.025,0.000,0.000,0.000,0.000,160.500,0.000,23.725,0.000,1345.971,149.739,1803.529,29.316,33.435,594.214,0.000,470.598,0.000,1782.146,0.000
$DEVICE_MAMPS,140.760,71.145,1555.245,512.550,0.000,0.000,0.000,0.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3204.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,73.228,0.000,0.000,0.000
$MEM,312944
$DATA_FILE_SIZE,7074,251
$CAP_FILE_SIZE,118743,0
$CFSIZE,1023623168,1020231680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1586.07,0x2139f6,2,24
$GPS,120418,053218,4743.301,-12224.396,8,1.0,22,16.3,0.0,0.0,8,5.7