version: 66.14
glider: 401
mission: 23
dive: 14
start: 4 12 118 9 6 43
data:
$ID,401
$MISSION,23
$DIVE,14
$N_DIVES,20
$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,60
$T_MISSION,90
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,74692
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,3175
$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,50
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1850
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$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,90
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,2
$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
$GPS1,120418,084840,4743.0088,-12224.6436,72,0.9,87,16.3,0.0,0.0,9,4.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.6
$GPS2,120418,090625,4743.0269,-12224.7734,7,0.9,48,16.3,0.0,0.0,9,3.0
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,165.6,976,-24.1,-10.000,-26.74,1498
$D_GRID,178
$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,7,-1.75,-97.5,241,2609,1468,3404,0.0,0.0,0,11,0.00,0.00,-2.83,0.000,16390,0.000,0.000,239,2609,1961,1961,4094,0,0,0,0,0,0,26.34,25.17,26.34,8.47,44.44
$GC,12,-1.75,-97.5,233,2608,1964,4094,0.0,0.0,0,47,29.70,2.70,0.00,0.000,2820,0.138,0.032,2597,1530,1960,1960,4095,0,0,0,0,0,0,25.90,26.02,26.00,8.57,45.11
$GC,129,-1.75,-97.5,2603,1530,1968,4095,27.6,-17.6,20,137,0.00,2.85,0.00,0.000,1030,0.000,0.059,2602,2591,1974,1974,4094,0,0,0,0,0,0,26.20,26.10,26.20,8.57,44.92
$GC,195,-1.75,-97.5,2601,2591,1973,4094,39.9,-19.3,27,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2591,1971,1971,4094,0,0,0,0,0,0,26.51,26.52,26.52,8.58,44.68
$GC,255,-1.75,-97.5,2602,2592,1977,4094,51.4,-19.2,33,263,0.00,2.75,0.00,0.000,516,0.000,0.037,2602,1531,1975,1975,4095,0,0,0,0,0,0,26.56,26.25,26.58,8.57,44.60
$GC,410,-1.75,-97.5,2603,1531,1985,4095,76.4,-17.7,52,432,0.00,2.80,0.00,0.000,1030,0.000,0.060,2602,2591,1981,1981,4094,0,0,0,0,0,0,26.43,26.31,26.44,8.57,44.09
$GC,550,-1.75,-97.5,2602,2591,1987,4094,102.0,-18.8,59,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2587,1985,1985,4094,0,0,0,0,0,0,26.58,26.60,26.60,8.58,44.01
$GC,696,-1.75,-97.5,2603,2591,1992,4094,128.8,-18.7,66,719,0.00,2.70,0.00,0.000,516,0.000,0.038,2602,1532,1993,1993,4094,0,0,0,0,0,0,26.58,26.34,26.59,8.58,43.81
$GC,780,-1.75,-97.5,2602,1530,1997,4094,143.6,-17.7,70,803,0.00,2.72,0.00,0.000,1030,0.000,0.056,2602,2570,1997,1997,4094,0,0,0,0,0,0,26.41,26.34,26.44,8.59,44.32
$GC,924,-1.75,-97.5,2602,2571,2004,4094,171.3,-20.8,77,948,0.00,3.10,0.00,0.000,260,0.000,0.090,2602,3691,2005,2005,4094,0,0,0,0,0,0,26.57,26.28,26.58,8.59,43.54
$STATE,968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,968,begin apogee
$GC,973,-0.33,0.0,2603,2604,2004,4088,181.2,-21.2,79,989,5.15,0.00,9.18,2.153,10244,0.100,0.000,3051,2600,1857,1857,4095,0,0,0,0,0,0,26.27,25.75,24.19,8.59,43.14
$STATE,990,end apogee,CONTROL_FINISHED_OK
$STATE,991,begin climb
$GC,991,1.75,97.5,3053,2604,1849,4095,189.8,0.0,82,1011,6.45,2.75,6.60,1.922,10756,0.045,0.037,3675,1524,1741,1741,4094,0,0,0,0,0,0,25.97,25.89,23.96,8.57,43.58
$GC,1183,1.95,228.7,3669,1521,1747,4094,183.7,1.0,114,1197,0.00,2.88,8.70,2.084,11270,0.000,0.054,3669,2598,1602,1602,4094,0,0,0,0,0,0,26.12,26.06,24.06,8.55,43.06
$GC,1255,1.97,245.4,3668,2599,1602,4094,178.3,8.9,122,1263,0.00,2.83,2.53,0.560,10756,0.000,0.041,3665,1513,1594,1594,4094,0,0,0,0,0,0,26.17,25.43,24.20,8.52,43.69
$GC,1309,2.07,309.0,3668,1517,1591,4094,174.3,5.6,131,1323,0.00,2.95,5.05,1.572,11270,0.000,0.061,3664,2603,1519,1519,4094,0,0,0,0,0,0,26.01,25.94,24.22,8.51,43.85
$GC,1381,2.07,309.0,3670,2602,1517,4094,165.3,13.7,139,1389,0.00,2.80,0.00,0.000,2564,0.000,0.034,3671,1513,1508,1508,4093,0,0,0,0,0,0,26.25,25.96,26.26,8.50,43.46
$GC,1399,2.07,309.0,3670,1517,1516,4093,163.1,13.5,142,1407,0.00,2.90,0.03,0.005,11270,0.000,0.059,3664,2589,1516,1516,4094,0,0,0,0,0,0,26.05,25.96,26.06,8.50,43.46
$GC,1465,2.07,309.0,3669,2589,1515,4094,155.5,11.3,149,1473,0.00,2.78,0.00,0.000,2564,0.000,0.038,3672,1517,1514,1514,4095,0,0,0,0,0,0,26.39,26.06,26.39,8.50,43.54
$GC,1489,2.07,309.0,3670,1521,1514,4095,152.9,10.8,153,1497,0.00,2.88,0.00,0.000,3078,0.000,0.054,3667,2596,1514,1514,4095,0,0,0,0,0,0,26.15,26.09,26.17,8.49,43.81
$GC,1555,2.07,309.0,3668,2598,1513,4095,141.3,19.1,160,1556,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2596,1511,1511,4094,0,0,0,0,0,0,26.50,26.51,26.51,8.50,44.21
$GC,1615,2.07,309.0,3670,2596,1509,4094,131.8,15.1,166,1616,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2597,1509,1509,4094,0,0,0,0,0,0,26.55,26.56,26.56,8.50,43.50
$GC,1675,2.07,309.0,3668,2597,1508,4094,122.5,16.3,172,1676,0.00,0.00,0.00,0.000,2054,0.000,0.000,3667,2596,1506,1506,4094,0,0,0,0,0,0,26.60,26.62,26.61,8.49,44.17
$GC,1735,2.07,309.0,3670,2596,1504,4094,113.8,14.3,178,1736,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2596,1504,1504,4094,0,0,0,0,0,0,26.65,26.65,26.65,8.49,44.25
$GC,1795,2.07,309.0,3670,2597,1502,4094,104.9,15.0,184,1796,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2596,1502,1502,4094,0,0,0,0,0,0,26.69,26.70,26.70,8.49,44.40
$GC,1855,2.07,309.0,3670,2596,1499,4094,96.5,13.1,190,1856,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2596,1499,1499,4094,0,0,0,0,0,0,26.72,26.73,26.73,8.46,44.52
$GC,1915,2.07,309.0,3668,2596,1499,4094,88.0,14.4,196,1923,0.00,2.75,0.00,0.000,2564,0.000,0.040,3669,1527,1497,1497,4095,0,0,0,0,0,0,26.75,26.44,26.76,8.49,44.80
$GC,1939,2.07,309.0,3668,1527,1498,4095,84.8,13.5,200,1947,0.00,2.80,0.00,0.000,3078,0.000,0.054,3669,2585,1491,1491,4093,0,0,0,0,0,0,26.53,26.42,26.55,8.49,44.60
$GC,2005,2.07,309.0,3670,2585,1494,4093,75.6,14.1,207,2006,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2586,1494,1494,4094,0,0,0,0,0,0,26.79,26.79,26.79,8.48,44.40
$GC,2065,2.07,309.0,3668,2586,1492,4094,66.9,14.5,213,2073,0.00,2.72,0.00,0.000,2564,0.000,0.039,3669,1522,1492,1492,4094,0,0,0,0,0,0,26.81,26.49,26.82,8.48,44.72
$GC,2089,2.07,309.0,3668,1522,1493,4094,63.6,13.9,217,2097,0.00,2.75,0.00,0.000,3078,0.000,0.054,3669,2570,1493,1493,4094,0,0,0,0,0,0,26.62,26.46,26.63,8.48,45.11
$GC,2205,2.07,309.0,3668,2566,1489,4094,50.1,13.6,224,2226,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2566,1487,1487,4094,0,0,0,0,0,0,26.76,26.77,26.76,8.48,45.62
$GC,2339,2.07,309.0,3668,2566,1484,4094,33.4,12.1,231,2361,0.00,2.65,0.00,0.000,2564,0.000,0.041,3669,1522,1476,1476,4094,0,0,0,0,0,0,26.72,26.46,26.73,8.49,44.32
$GC,2399,2.07,309.0,3670,1522,1481,4094,26.7,11.2,234,2422,0.00,2.78,0.00,0.000,3078,0.000,0.055,3669,2587,1481,1481,4094,0,0,0,0,0,0,26.54,26.43,26.58,8.47,44.21
$GC,2535,2.07,309.0,3667,2587,1476,4094,11.0,12.4,241,2540,0.00,0.00,0.00,0.000,2054,0.000,0.000,3669,2587,1476,1476,4095,0,0,0,0,0,0,26.71,26.70,26.70,8.48,44.05
$GC,2594,2.09,322.9,3668,2587,1476,4095,3.3,9.0,248,2602,0.00,3.05,0.00,0.000,2308,0.000,0.092,3672,3688,1475,1475,4095,0,0,0,0,0,0,26.77,26.42,26.77,8.47,43.93
$STATE,2611,end climb,SURFACE_DEPTH_REACHED
$STATE,2611,begin surface coast
$FINISH,0.1,0.999823
$STATE,2635,end surface coast,CONTROL_FINISHED_OK
$STATE,2635,begin surface
$SM_CCo,2677,2.15,0.083,0,0,1467,350.89
$SM_GC,3.52,35.00,2.72,2.15,0.027,0.037,0.083,240,2593,1467,-9.16,1.69,350.89,0,0,0,0,0,0,26.56,26.57,25.81
$IRIDIUM_FIX,4808.40,-12337.82,120418,074715
$TT8_MAMPS,0.047187,0.818657
$HUMID,43.85
$INTERNAL_PRESSURE,8.38279
$TCM_TEMP,7.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.1,999.0
$SC_FREEKB,3905152
$24V_AH,23.96,1.069
$10V_AH,10.22,2.585
$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,76.300,67.325,32.075,2.150,0.000,131.360,77.925,522.965,123.250,0.000,49.538,0.000,1211.571,219.348,2269.286,53.506,0.000,598.468,0.000,372.995,0.000,1389.340,0.000
$DEVICE_MAMPS,137.700,91.800,2153.475,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2657.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,69.978,0.000,0.000,0.000
$MEM,312872
$DATA_FILE_SIZE,7039,255
$CAP_FILE_SIZE,91293,0
$CFSIZE,1023623168,1019920384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,095214,4742.476,-12225.052,18,0.9,28,16.3,0.0,352.9,9,4.8