version: 66.14
glider: 401
mission: 23
dive: 20
start: 4 12 118 15 0 19
data:
$ID,401
$MISSION,23
$DIVE,20
$N_DIVES,25
$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,90
$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,45
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,1800
$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,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
$GPS1,120418,144911,4743.7817,-12224.1895,8,0.9,55,16.3,0.5,28.4,8,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.8
$GPS2,120418,150001,4743.9253,-12224.0693,7,0.8,40,16.3,0.4,36.2,10,3.1
$SPEED_LIMITS,0.100,0.188
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-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,262.3,920,-25.4,-10.000,-27.99,1347
$D_GRID,173
$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,-1.83,-87.8,241,2606,1415,3405,0.0,0.0,0,11,0.00,0.00,-2.90,0.000,16390,0.000,0.000,235,2600,1905,1905,4094,0,0,0,0,0,0,26.34,25.25,26.34,8.47,44.76
$GC,12,-1.83,-87.8,232,2601,1912,4094,0.0,0.0,0,43,29.52,0.00,0.00,0.000,2054,0.134,0.000,2581,2601,1907,1907,4090,0,0,0,0,0,0,25.94,26.13,26.08,8.56,44.80
$GC,98,-1.83,-87.8,2582,2600,1910,4090,19.7,-20.6,9,98,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1909,1909,4094,0,0,0,0,0,0,26.39,26.41,26.41,8.56,44.88
$GC,158,-1.83,-87.8,2580,2600,1913,4094,31.8,-20.1,15,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1909,1909,4094,0,0,0,0,0,0,26.47,26.48,26.48,8.56,44.13
$GC,218,-1.83,-87.8,2580,2600,1917,4094,43.3,-19.0,21,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1915,1915,4094,0,0,0,0,0,0,26.53,26.55,26.54,8.56,44.52
$GC,278,-1.83,-87.8,2580,2601,1919,4094,54.4,-18.0,27,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2600,1917,1917,4094,0,0,0,0,0,0,26.58,26.60,26.60,8.56,44.09
$GC,338,-1.83,-87.8,2580,2600,1921,4094,64.5,-16.8,33,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1919,1919,4094,0,0,0,0,0,0,26.63,26.64,26.64,8.55,44.25
$GC,398,-1.83,-87.8,2580,2600,1924,4094,75.2,-18.1,39,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2596,1922,1922,4094,0,0,0,0,0,0,26.67,26.68,26.68,8.56,44.64
$GC,458,-1.83,-87.8,2580,2600,1926,4094,86.0,-17.8,45,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1926,1926,4094,0,0,0,0,0,0,26.70,26.72,26.71,8.56,44.99
$GC,518,-1.83,-87.8,2582,2600,1927,4094,97.0,-18.4,51,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2600,1928,1928,4094,0,0,0,0,0,0,26.73,26.74,26.74,8.56,44.32
$GC,578,-1.83,-87.8,2580,2600,1931,4094,108.1,-18.6,57,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1930,1930,4094,0,0,0,0,0,0,26.77,26.77,26.77,8.56,45.35
$GC,638,-1.83,-87.8,2580,2601,1934,4094,119.3,-18.8,63,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2600,1932,1932,4094,0,0,0,0,0,0,26.79,26.80,26.79,8.56,44.36
$GC,698,-1.83,-87.8,2581,2600,1935,4094,130.4,-18.4,69,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1933,1933,4094,0,0,0,0,0,0,26.79,26.80,26.81,8.56,44.60
$GC,758,-1.83,-87.8,2580,2600,1938,4094,141.0,-17.7,75,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1938,1938,4094,0,0,0,0,0,0,26.82,26.83,26.83,8.56,44.52
$GC,818,-1.83,-87.8,2581,2600,1941,4094,152.3,-18.9,81,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1941,1941,4094,0,0,0,0,0,0,26.84,26.85,26.85,8.57,44.80
$GC,878,-1.83,-87.8,2580,2600,1945,4094,163.0,-17.6,87,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2600,1943,1943,4094,0,0,0,0,0,0,26.85,26.87,26.86,8.56,45.03
$STATE,937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,937,begin apogee
$GC,939,-0.33,0.0,2581,2600,1945,4094,173.4,-17.7,93,959,5.43,0.00,8.57,1.985,10246,0.095,0.000,3053,2600,1806,1806,4095,0,0,0,0,0,0,26.52,26.07,24.65,8.57,44.92
$STATE,960,end apogee,CONTROL_FINISHED_OK
$STATE,960,begin climb
$GC,961,1.83,87.8,3057,2600,1801,4095,175.7,0.0,95,980,6.53,0.00,6.45,1.790,10246,0.046,0.000,3675,2600,1703,1703,4094,0,0,0,0,0,0,26.26,25.82,24.42,8.54,44.88
$GC,1038,1.85,101.1,3676,2600,1702,4094,169.8,9.0,103,1041,0.00,0.00,2.47,0.496,10246,0.000,0.000,3672,2599,1689,1689,4094,0,0,0,0,0,0,26.38,25.93,24.51,8.54,45.11
$GC,1098,1.87,120.4,3675,2600,1689,4094,164.7,8.5,109,1102,0.00,0.00,2.95,0.810,10246,0.000,0.000,3685,2600,1667,1667,4090,0,0,0,0,0,0,26.44,25.94,24.56,8.53,44.32
$GC,1158,1.88,123.9,3674,2600,1675,4090,159.0,9.7,115,1159,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2600,1667,1667,4094,0,0,0,0,0,0,26.46,26.47,26.46,8.52,44.95
$GC,1218,1.88,123.9,3676,2600,1666,4094,152.9,10.0,121,1218,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1666,1666,4094,0,0,0,0,0,0,26.53,26.53,26.53,8.52,45.58
$GC,1278,1.89,127.9,3674,2600,1666,4094,147.1,9.7,127,1279,0.00,0.00,0.38,0.002,10246,0.000,0.000,3675,2600,1665,1665,4094,0,0,0,0,0,0,26.58,26.58,26.58,8.52,44.72
$GC,1338,1.89,134.1,3680,2601,1665,4094,141.2,9.5,133,1341,0.00,0.00,2.50,0.459,10246,0.000,0.000,3675,2600,1651,1651,4094,0,0,0,0,0,0,26.63,26.17,24.87,8.52,45.11
$GC,1398,1.91,142.0,3674,2600,1652,4094,135.5,9.4,139,1400,0.00,0.00,1.62,0.003,10246,0.000,0.000,3675,2600,1650,1650,4088,0,0,0,0,0,0,26.66,26.58,26.61,8.51,44.99
$GC,1458,1.91,146.8,3675,2600,1650,4088,129.8,9.6,145,1461,0.00,0.00,2.25,0.256,10246,0.000,0.000,3675,2600,1635,1635,4094,0,0,0,0,0,0,26.67,26.26,24.98,8.51,45.31
$GC,1518,1.92,147.8,3675,2600,1642,4094,123.8,9.9,151,1521,0.00,0.00,2.10,0.117,10246,0.000,0.000,3675,2600,1637,1637,4094,0,0,0,0,0,0,26.71,26.27,25.01,8.51,45.15
$GC,1578,1.92,147.8,3674,2600,1638,4094,117.7,10.2,157,1578,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2599,1637,1637,4094,0,0,0,0,0,0,26.73,26.74,26.74,8.51,44.99
$GC,1638,1.92,147.8,3672,2601,1636,4094,111.6,10.0,163,1639,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1635,1635,4094,0,0,0,0,0,0,26.76,26.75,26.77,8.51,45.39
$GC,1698,1.92,147.8,3675,2600,1635,4094,105.4,10.4,169,1698,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1633,1633,4094,0,0,0,0,0,0,26.79,26.79,26.79,8.51,45.43
$GC,1758,1.92,147.8,3676,2600,1632,4094,99.3,10.0,175,1758,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1632,1632,4094,0,0,0,0,0,0,26.81,26.82,26.82,8.50,45.78
$GC,1818,1.92,147.8,3676,2600,1628,4094,93.0,10.5,181,1819,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1630,1630,4094,0,0,0,0,0,0,26.83,26.84,26.84,8.51,45.03
$GC,1878,1.92,147.8,3676,2600,1629,4094,86.5,10.7,187,1879,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1629,1629,4094,0,0,0,0,0,0,26.85,26.86,26.86,8.50,45.19
$GC,1938,1.92,147.8,3675,2600,1629,4094,79.9,10.9,193,1938,0.00,0.00,0.00,0.000,2054,0.000,0.000,3676,2600,1627,1627,4094,0,0,0,0,0,0,26.87,26.88,26.87,8.50,45.47
$GC,1998,1.92,147.8,3676,2600,1626,4094,73.3,11.0,199,1999,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2595,1625,1625,4094,0,0,0,0,0,0,26.89,26.89,26.89,8.50,45.86
$GC,2058,1.92,148.3,3676,2600,1625,4094,67.2,10.0,205,2059,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2601,1624,1624,4094,0,0,0,0,0,0,26.90,26.91,26.91,8.48,45.51
$GC,2118,1.93,156.5,3674,2600,1624,4094,61.6,9.4,211,2119,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1623,1623,4094,0,0,0,0,0,0,26.91,26.92,26.92,8.48,45.43
$GC,2178,1.95,169.9,3674,2600,1623,4094,56.2,9.0,217,2181,0.00,0.00,1.85,0.003,10246,0.000,0.000,3673,2601,1622,1622,4094,0,0,0,0,0,0,26.94,26.89,26.89,8.50,45.35
$GC,2238,2.02,216.5,3676,2601,1620,4094,52.0,6.5,223,2243,0.00,0.00,4.28,0.733,10246,0.000,0.000,3675,2606,1564,1564,4092,0,0,0,0,0,0,26.94,26.49,25.65,8.50,45.07
$GC,2298,2.05,235.9,3676,2600,1562,4092,47.3,8.5,229,2302,0.00,0.00,2.75,0.375,10246,0.000,0.000,3675,2603,1543,1543,4094,0,0,0,0,0,0,26.89,26.49,25.68,8.48,45.15
$GC,2358,2.05,235.9,3674,2598,1543,4094,40.8,11.5,235,2358,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1541,1541,4094,0,0,0,0,0,0,26.89,26.89,26.89,8.48,45.86
$GC,2418,2.05,235.9,3674,2600,1541,4094,33.2,12.8,241,2418,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1539,1539,4094,0,0,0,0,0,0,26.90,26.91,26.91,8.48,45.23
$GC,2478,2.05,235.9,3674,2600,1539,4094,25.7,12.1,247,2478,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1537,1537,4095,0,0,0,0,0,0,26.92,26.93,26.93,8.49,45.35
$GC,2538,2.05,235.9,3676,2600,1535,4095,19.2,10.6,253,2538,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1536,1536,4095,0,0,0,0,0,0,26.94,26.94,26.94,8.47,46.02
$GC,2598,2.05,235.9,3674,2600,1535,4095,12.6,11.5,259,2598,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1533,1533,4094,0,0,0,0,0,0,26.94,26.95,26.95,8.48,45.19
$GC,2658,2.05,236.3,3676,2600,1531,4094,6.5,10.0,265,2659,0.00,0.00,0.00,0.000,2054,0.000,0.000,3675,2600,1537,1537,4094,0,0,0,0,0,0,26.96,26.96,26.96,8.49,45.62
$STATE,2707,end climb,SURFACE_DEPTH_REACHED
$STATE,2707,begin surface coast
$FINISH,0.4,0.999823
$STATE,2727,end surface coast,CONTROL_FINISHED_OK
$STATE,2727,begin surface
$SM_CCo,2767,6.30,0.568,0,0,1417,350.89
$SM_GC,3.73,34.95,0.00,6.30,0.027,0.000,0.568,240,2600,1417,-9.16,0.00,350.89,0,0,0,0,0,0,26.74,26.98,25.98
$IRIDIUM_FIX,4808.40,-12337.82,120418,135140
$TT8_MAMPS,0.046438,0.765478
$HUMID,45.15
$INTERNAL_PRESSURE,8.37302
$TCM_TEMP,7.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.9,9.5
$ALTIM_BOTTOM_PING,126.7,59.2
$SC_FREEKB,3901632
$24V_AH,24.42,1.484
$10V_AH,10.34,3.028
$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,76.425,0.000,38.175,6.300,0.000,22.740,21.875,476.498,1.750,0.000,41.355,0.000,2050.238,145.360,1181.959,47.809,0.000,376.141,0.000,396.733,0.000,20.470,0.000
$DEVICE_MAMPS,133.875,0.000,1985.175,567.630,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2745.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,66.345,0.000,0.000,0.000
$MEM,312856
$DATA_FILE_SIZE,7044,272
$CAP_FILE_SIZE,67309,0
$CFSIZE,1023623168,1019150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120418,154709,4744.123,-12223.873,8,0.9,22,16.3,0.0,15.0,9,4.7