version: 66.14
glider: 401
mission: 28
dive: 7
start: 5 7 118 23 52 56
data:
$ID,401
$MISSION,28
$DIVE,7
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74293
$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,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,234
$VBD_MAX,3400
$C_VBD,2170
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,80
$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
$GPS1,070518,234600,4742.8892,-12223.8389,5,1.1,50,16.3,0.3,0.0,8,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-36.7
$GPS2,070518,235204,4742.8809,-12223.7588,5,1.7,50,16.3,0.2,0.0,7,4.7
$SPEED_LIMITS,0.208,0.375
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.356446,-0.116249
$KALMAN_X,2346.447998,904.236877,121.483780,-2834.726562,968.203979
$KALMAN_Y,835.537964,550.972961,221.014908,-2753.473145,188.571762
$MHEAD_RNG_PITCHd_Wd,235.6,2445,-14.6,-12.000,-17.75,4354
$D_GRID,152
$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,-1.63,-342.1,244,2020,242,1688,0.0,0.0,0,28,0.00,0.00,-20.40,0.000,16390,0.000,0.000,243,2020,2550,2550,2046,0,0,0,0,0,0,26.77,25.67,26.77,10.21,42.20
$GC,29,-1.63,-342.1,249,2021,2550,2046,1.4,-5.2,2,53,21.05,0.00,0.00,0.000,2566,0.120,0.000,1995,2013,2553,2553,2046,0,0,0,0,0,0,26.38,26.49,26.44,10.85,43.50
$GC,113,-1.63,-342.1,1995,2015,2557,2046,21.2,-14.9,11,119,0.00,2.53,0.00,0.000,516,0.000,0.070,1994,1074,2557,2557,2046,0,0,0,0,0,0,26.77,26.44,26.79,10.80,42.63
$GC,197,-1.63,-342.1,1995,1074,2563,2046,35.3,-16.7,25,203,0.00,2.38,0.00,0.000,1030,0.000,0.031,1995,2038,2565,2565,2040,0,0,0,0,0,0,26.63,26.58,26.65,10.79,42.47
$GC,264,-1.63,-342.1,1996,2040,2568,2040,46.2,-16.4,32,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2038,2567,2567,2042,0,0,0,0,0,0,26.84,26.86,26.84,10.78,41.73
$GC,323,-1.63,-342.1,1994,2041,2570,2042,56.1,-16.9,38,329,0.00,2.62,0.00,0.000,516,0.000,0.071,1995,1070,2572,2572,2046,0,0,0,0,0,0,26.87,26.53,26.88,10.77,42.55
$GC,467,-1.63,-342.1,1996,1073,2553,2046,81.4,-18.0,62,473,0.00,2.40,0.00,0.000,1030,0.000,0.031,1995,2045,2556,2556,2044,0,0,0,0,0,0,26.77,26.67,26.75,10.77,42.55
$GC,534,-1.63,-342.1,1995,2046,2544,2044,91.7,-14.9,69,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2051,2542,2542,2046,0,0,0,0,0,0,26.94,26.95,26.95,10.73,42.59
$GC,594,-1.63,-342.1,1996,2046,2539,2046,101.1,-15.6,75,599,0.00,2.62,0.00,0.000,516,0.000,0.070,1995,1067,2539,2539,2049,0,0,0,0,0,0,26.95,26.65,26.96,10.75,43.22
$GC,647,-1.63,-342.1,1996,1067,2533,2049,110.4,-17.1,84,653,0.00,2.40,-0.08,0.000,17414,0.000,0.031,1995,2044,2563,2563,2043,0,0,0,0,0,0,26.77,26.72,26.40,10.75,43.66
$GC,716,-1.63,-342.1,1994,2047,2576,2043,120.4,-15.3,91,720,0.00,2.58,0.00,0.000,516,0.000,0.068,2002,1070,2586,2586,2045,0,0,0,0,0,0,26.91,26.63,26.93,10.76,43.66
$GC,773,-1.63,-342.1,1994,1071,0,2045,130.7,-17.4,101,780,0.00,2.38,-1.08,0.000,17414,0.000,0.031,1995,2038,3218,3218,2046,0,0,0,0,0,0,26.79,26.77,26.80,10.76,44.09
$GC,840,-1.63,-342.1,1994,2039,1,2046,138.2,-9.8,108,930,0.00,2.60,-81.85,0.000,16900,0.000,0.087,1995,1073,3353,3353,2046,0,0,0,0,14,0,26.99,25.85,26.96,10.96,44.44
$GC,1158,-1.63,-342.1,1994,1077,3358,2046,142.8,-0.0,161,1163,0.00,2.30,0.00,0.000,1030,0.000,0.033,1995,2025,3323,3323,2046,0,0,0,0,0,0,26.85,26.81,26.87,10.95,44.64
$GC,1223,-1.63,-342.1,1996,2037,3387,2046,142.8,-0.0,168,1229,0.00,2.58,0.00,0.000,516,0.000,0.073,1994,1072,3392,3392,2046,0,0,0,0,0,0,27.03,26.67,27.05,10.95,45.51
$GC,1458,-1.63,-342.1,1994,1074,3389,2046,142.8,-0.0,207,1463,0.00,2.30,0.00,0.000,1030,0.000,0.034,1995,2021,3387,3387,2051,0,0,0,0,0,0,26.89,26.84,26.91,10.95,45.51
$GC,1523,-1.63,-342.1,1994,2025,3381,2051,142.8,0.0,214,1529,0.00,2.55,0.00,0.000,516,0.000,0.073,1995,1076,3379,3379,2046,0,0,0,0,0,0,27.08,26.72,27.08,10.94,45.70
$GC,1758,-1.63,-342.1,1994,1077,3403,2046,142.8,0.0,253,1763,0.00,2.28,0.00,0.000,1030,0.000,0.033,1992,2017,3406,3406,2046,0,0,0,0,0,0,26.91,26.88,26.94,10.94,46.69
$STATE,1803,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1803,begin apogee
$GC,1805,-0.38,0.0,1995,1893,3405,2046,142.8,-0.1,258,1879,3.90,0.00,67.55,2.122,10244,0.028,0.000,2389,1893,2177,2177,2048,0,0,0,0,0,0,26.88,24.59,23.46,10.93,46.37
$STATE,1880,end apogee,CONTROL_FINISHED_OK
$STATE,1880,begin climb
$GC,1881,1.63,342.1,2390,1894,2173,2048,142.7,0.0,265,1916,6.93,2.65,21.80,1.956,10500,0.026,0.045,3051,2865,1800,1800,2046,0,0,0,0,0,0,24.93,24.82,23.42,10.60,44.92
$GC,1940,1.75,422.0,3050,2860,1801,2046,138.9,10.1,276,1952,0.15,2.60,6.28,1.450,11270,0.040,0.039,3071,1907,1717,1717,2046,0,0,0,0,0,0,25.26,25.18,23.88,10.51,44.32
$GC,2012,1.75,422.0,3074,1907,1716,2046,130.3,12.3,284,2017,0.00,2.80,0.00,0.000,516,0.000,0.081,3075,916,1715,1715,2046,0,0,0,0,0,0,25.86,25.54,25.87,10.48,44.72
$GC,2053,1.75,422.0,3074,914,1715,2046,124.2,15.3,291,2059,0.00,2.47,0.00,0.000,1030,0.000,0.033,3074,1895,1713,1713,2046,0,0,0,0,0,0,25.89,25.83,25.89,10.48,44.29
$GC,2120,1.75,422.0,3075,1904,1711,2046,114.9,14.0,298,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1902,1712,1712,2046,0,0,0,0,0,0,26.24,26.25,26.25,10.48,44.40
$GC,2179,1.75,422.0,3075,1903,1710,2046,106.6,13.4,304,2185,0.00,2.78,0.00,0.000,516,0.000,0.081,3074,914,1706,1706,2043,0,0,0,0,0,0,26.36,26.01,26.37,10.48,44.56
$GC,2221,1.75,422.0,3073,914,1718,2043,100.6,14.2,311,2227,0.00,2.42,0.00,0.000,1030,0.000,0.033,3075,1886,1706,1706,2046,0,0,0,0,0,0,26.26,26.20,26.26,10.47,45.15
$GC,2288,1.75,422.0,3074,1895,1709,2046,91.9,13.3,318,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1894,1707,1707,2046,0,0,0,0,0,0,26.51,26.53,26.53,10.48,44.76
$GC,2348,1.75,422.0,3074,1894,1707,2046,83.8,14.1,324,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1894,1705,1705,2046,0,0,0,0,0,0,26.58,26.59,26.58,10.48,45.55
$GC,2407,1.75,422.0,3074,1895,1705,2046,75.0,14.9,330,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1894,1704,1704,2046,0,0,0,0,0,0,26.63,26.65,26.64,10.47,44.95
$GC,2467,1.75,422.0,3075,1895,1702,2046,66.4,14.2,336,2473,0.00,2.72,0.00,0.000,516,0.000,0.082,3074,911,1701,1701,2044,0,0,0,0,0,0,26.67,26.31,26.69,10.47,45.51
$GC,2491,1.75,422.0,3076,912,1700,2044,63.0,14.3,340,2497,0.00,2.40,0.00,0.000,1030,0.000,0.033,3075,1889,1708,1708,2046,0,0,0,0,0,0,26.52,26.48,26.58,10.47,45.51
$GC,2558,1.75,422.0,3082,1898,1700,2046,54.3,13.0,347,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1898,1700,1700,2046,0,0,0,0,0,0,26.73,26.74,26.74,10.47,45.90
$GC,2617,1.75,422.0,3075,1896,1698,2046,46.8,12.2,353,2623,0.00,2.72,0.00,0.000,516,0.000,0.081,3071,909,1698,1698,2046,0,0,0,0,0,0,26.77,26.41,26.77,10.47,45.35
$GC,2659,1.75,422.0,3075,910,1697,2046,41.3,13.1,360,2665,0.00,2.35,0.00,0.000,1030,0.000,0.034,3073,1876,1698,1698,2041,0,0,0,0,0,0,26.61,26.57,26.63,10.47,45.94
$GC,2726,1.75,422.0,3074,1884,1697,2041,33.4,12.1,367,2731,0.00,2.53,0.00,0.000,260,0.000,0.045,3072,2856,1695,1695,2046,0,0,0,0,0,0,26.81,26.52,26.82,10.46,45.27
$GC,2743,1.75,422.0,3075,2857,1694,2046,31.1,12.6,370,2749,0.00,2.55,0.00,0.000,1030,0.000,0.040,3073,1868,1695,1695,2051,0,0,0,0,0,0,26.61,26.51,26.64,10.46,45.15
$GC,2810,1.75,422.0,3074,1870,1695,2051,22.7,12.6,377,2815,0.00,2.60,0.00,0.000,516,0.000,0.082,3075,917,1701,1701,2046,0,0,0,0,0,0,26.84,26.49,26.85,10.46,45.62
$GC,2839,1.75,422.0,3075,918,1693,2046,18.9,13.3,382,2845,0.00,2.33,0.00,0.000,1030,0.000,0.033,3075,1883,1694,1694,2043,0,0,0,0,0,0,26.69,26.62,26.70,10.46,44.99
$GC,2906,1.75,422.0,3075,1886,1692,2043,10.4,12.6,389,2911,0.00,2.65,0.00,0.000,516,0.000,0.080,3075,927,1691,1691,2043,0,0,0,0,0,0,26.86,26.51,26.88,10.46,45.94
$GC,2930,1.75,422.0,3075,920,1691,2043,7.0,14.4,393,2935,0.00,2.28,0.00,0.000,1030,0.000,0.034,3081,1869,1691,1691,2046,0,0,0,0,0,0,26.74,26.67,26.72,10.46,45.82
$GC,2996,2.17,701.4,3074,1878,1692,2046,3.0,5.4,400,3015,1.30,0.00,14.60,0.665,10246,0.024,0.000,3213,1884,1409,1409,2046,0,0,0,0,0,0,26.68,26.36,25.86,10.48,45.66
$STATE,3025,end climb,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$STATE,3045,end surface coast,CONTROL_FINISHED_OK
$STATE,3045,begin surface
$SM_CCo,3140,0.00,0.000,0,0,1408,703.63
$SM_GC,1.41,30.45,0.32,0.00,0.024,0.040,0.000,232,2067,1408,-7.18,-2.69,703.63,0,0,0,0,0,0,26.29,26.51,26.46
$IRIDIUM_FIX,4808.40,-12337.82,070518,233900
$TT8_MAMPS,0.046438,0.850864
$HUMID,45.74
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,11.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.3,12.0
$ALTIM_BOTTOM_PING,120.4,24.4
$SC_FREEKB,3906880
$24V_AH,23.42,4.127
$10V_AH,10.16,5.132
$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,63.775,76.000,110.225,0.000,0.000,0.000,0.000,0.000,0.750,0.000,51.897,0.000,2070.853,333.583,808.924,21.093,33.415,693.605,0.000,583.861,0.000,7.117,0.000
$DEVICE_MAMPS,120.105,87.210,2122.110,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,67.491,0.000,0.000,0.000
$MEM,312984
$DATA_FILE_SIZE,13879,405
$CAP_FILE_SIZE,79839,0
$CFSIZE,1023623168,1020035072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,080518,004557,4742.610,-12224.260,5,0.9,19,16.3,0.0,127.8,9,4.8