version: 66.12
glider: 401
mission: 6
dive: 1
start: 10 31 116 17 54 6
data:
$ID,401
$MISSION,6
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,0.5
$D_TGT,40
$D_ABORT,1090
$D_NO_BLEED,500
$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,13
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,3
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,0.99800003
$MASS,71182
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0060000001
$HD_B,0.0125
$HD_C,1e-06
$HEADING,215
$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,200
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,30945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3775
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.700001
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3930
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,1970
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,0
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-50.558777
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,30
$ALTIM_PING_DELTA,3
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$GPS1,311016,174734,4741.4067,-12214.6064,12,0.8,26,16.2,0.3,86.7,10,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-23.2
$GPS2,311016,175257,4741.4214,-12214.5869,14,0.9,24,16.2,0.0,0.0,9,3.0
$SPEED_LIMITS,0.282,0.292
$TGT_NAME,HEADING
$TGT_LATLONG,4732.575,-12223.763
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.167040,-0.239250
$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,198.7,20000,-17.1,-10.256,-19.37,3306
$D_GRID,40
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.02,-100.2,220,2120,61,246,0.0,0.0,0,22,0.00,0.00,-5.43,0.000,16386,0.000,0.000,220,2120,897,897,241,0,0,0,0,0,0,26.82,28.83,26.83
$GC,24,-1.02,-100.2,220,2120,896,241,0.8,0.0,1,55,19.88,0.00,-8.20,0.000,18438,0.089,0.000,1983,2114,2091,2091,337,0,0,0,0,0,0,26.36,25.13,26.48
$GC,68,-1.02,-100.2,1982,2114,2091,335,0.1,0.8,9,74,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2091,2091,370,0,0,0,0,0,0,26.79,26.82,26.82
$GC,87,-1.02,-100.2,1983,2115,2091,368,0.1,0.3,13,93,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2090,2090,399,0,0,0,0,0,0,26.81,26.83,26.83
$GC,106,-1.02,-100.2,1983,2115,2091,397,0.1,0.2,17,112,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2091,2091,424,0,0,0,0,0,0,26.82,26.84,26.84
$GC,125,-1.02,-100.2,1983,2115,2091,422,0.1,0.2,21,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2091,2091,446,0,0,0,0,0,0,26.84,26.86,26.85
$GC,143,-1.02,-100.2,1983,2115,2091,444,0.1,-2.4,25,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2091,2091,465,0,0,0,0,0,0,26.85,26.86,26.86
$GC,162,-1.02,-100.2,1983,2115,2091,463,0.1,0.3,29,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2091,2091,481,0,0,0,0,0,0,26.86,26.87,26.87
$GC,181,-1.02,-100.2,1983,2115,2091,479,0.1,0.0,33,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2091,2091,496,0,0,0,0,0,0,26.86,26.89,26.89
$GC,200,-1.02,-100.2,1983,2115,2091,494,0.1,0.3,37,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2091,2091,508,0,0,0,0,0,0,26.87,26.89,26.89
$GC,219,-1.02,-100.2,1983,2115,2091,506,0.0,0.0,41,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2091,2091,519,0,0,0,0,0,0,26.79,26.82,26.82
$GC,237,-1.02,-100.2,1983,2115,2091,518,0.1,0.0,45,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2092,2092,529,0,0,0,0,0,0,26.89,26.91,26.91
$GC,256,-1.02,-100.2,1983,2115,2091,528,0.1,0.2,49,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2091,2091,538,0,0,0,0,0,0,26.90,26.91,26.91
$GC,275,-1.02,-100.2,1983,2115,2091,536,0.6,-2.9,53,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2091,2091,546,0,0,0,0,0,0,26.90,26.93,26.92
$GC,294,-1.02,-100.2,1983,2115,2091,544,1.0,-2.0,57,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2115,2091,2091,552,0,0,0,0,0,0,26.91,26.94,26.93
$GC,313,-1.02,-100.2,1983,2115,2092,550,1.8,-3.9,61,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2091,2091,558,0,0,0,0,0,0,26.92,26.94,26.94
$GC,332,-1.02,-100.2,1983,2115,2092,557,2.9,-5.8,65,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2092,2092,564,0,0,0,0,0,0,26.93,26.94,26.94
$GC,351,-1.02,-100.2,1983,2115,2092,562,4.0,-6.0,69,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2093,2093,568,0,0,0,0,0,0,26.93,26.95,26.95
$GC,371,-1.02,-100.2,1983,2115,2093,566,5.2,-6.2,73,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2115,2093,2093,572,0,0,0,0,0,0,26.94,26.96,26.95
$GC,390,-1.02,-100.2,1983,2115,2093,570,6.6,-6.7,77,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2094,2094,576,0,0,0,0,0,0,26.94,26.96,26.96
$GC,409,-1.02,-100.2,1983,2115,2094,574,8.0,-7.2,81,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2094,2094,579,0,0,0,0,0,0,26.95,26.96,26.96
$GC,428,-1.02,-100.2,1983,2115,2094,577,9.4,-7.1,85,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2115,2094,2094,581,0,0,0,0,0,0,26.96,26.97,26.97
$GC,447,-1.02,-100.2,1983,2115,2095,579,11.0,-8.2,89,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2095,2095,584,0,0,0,0,0,0,26.96,26.98,26.98
$GC,466,-1.02,-100.2,1983,2115,2095,582,12.5,-7.5,93,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2096,2096,586,0,0,0,0,0,0,26.94,26.96,26.96
$GC,485,-1.02,-100.2,1983,2114,2096,584,14.1,-8.7,97,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2096,2096,588,0,0,0,0,0,0,26.96,26.98,26.98
$GC,504,-1.02,-100.2,1983,2115,2096,586,15.8,-8.6,101,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2115,2096,2096,589,0,0,0,0,0,0,26.97,26.99,26.98
$GC,523,-1.02,-100.2,1983,2115,2096,587,17.2,-7.6,105,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2096,2096,591,0,0,0,0,0,0,26.98,26.99,26.99
$GC,543,-1.02,-100.2,1983,2115,2097,589,18.6,-7.2,109,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2097,2097,592,0,0,0,0,0,0,26.98,27.00,26.99
$GC,562,-1.02,-100.2,1983,2115,2097,590,20.0,-7.1,113,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2097,2097,593,0,0,0,0,0,0,26.98,27.00,27.00
$GC,581,-1.02,-100.2,1983,2115,2098,591,21.4,-7.3,117,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2098,2098,594,0,0,0,0,0,0,26.98,27.01,27.01
$GC,600,-1.02,-100.2,1983,2115,2098,592,22.9,-7.7,121,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2115,2098,2098,595,0,0,0,0,0,0,26.98,27.01,27.00
$GC,619,-1.02,-100.2,1983,2115,2099,593,24.5,-7.8,125,625,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2099,2099,596,0,0,0,0,0,0,26.99,27.01,27.01
$GC,638,-1.02,-100.2,1983,2115,2099,593,26.0,-8.0,129,644,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2099,2099,596,0,0,0,0,0,0,27.00,27.01,27.01
$GC,657,-1.02,-100.2,1983,2115,2099,594,27.4,-7.2,133,663,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2100,2100,597,0,0,0,0,0,0,27.00,27.01,27.01
$GC,676,-1.02,-100.2,1983,2115,2100,595,28.8,-7.3,137,682,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2100,2100,597,0,0,0,0,0,0,26.99,27.01,27.01
$GC,696,-1.02,-100.2,1983,2115,2100,595,30.2,-7.0,141,702,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2100,2100,597,0,0,0,0,0,0,26.97,26.99,26.98
$GC,715,-1.02,-100.2,1983,2115,2100,595,31.6,-6.9,145,721,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2100,2100,598,0,0,0,0,0,0,27.00,27.02,27.02
$GC,734,-1.02,-100.2,1983,2115,2101,596,32.9,-6.9,149,743,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2115,2101,2101,599,0,0,0,0,0,0,27.01,27.03,27.02
$GC,756,-1.02,-100.2,1982,2115,2101,597,34.4,-7.2,153,762,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2114,2101,2101,599,0,0,0,0,0,0,26.99,27.01,27.01
$STATE,767,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,767,begin apogee
$GC,771,-0.30,0.0,1983,2287,2101,599,35.3,-7.1,155,784,2.53,0.00,7.43,0.699,10246,0.087,0.000,2216,2288,1968,1968,4095,0,0,0,0,0,0,26.52,26.36,25.58
$STATE,785,end apogee,CONTROL_FINISHED_OK
$STATE,785,begin climb
$GC,786,1.02,100.2,2216,2287,1968,864,36.2,0.0,157,800,4.35,0.00,6.82,0.676,10246,0.071,0.000,2627,2288,1851,1851,4095,0,0,0,0,0,0,26.51,26.25,25.49
$GC,813,1.02,295.5,2627,2287,1851,820,35.6,4.4,162,831,0.00,0.00,11.27,0.771,8198,0.000,0.000,2627,2287,1627,1627,3921,0,0,0,0,0,0,26.78,25.87,25.37
$GC,844,1.02,485.5,2627,2287,1627,824,34.2,4.5,168,862,0.00,0.00,11.43,0.760,8198,0.000,0.000,2627,2288,1401,1401,3907,0,0,0,0,0,0,26.64,25.75,25.25
$GC,875,1.02,680.8,2627,2287,1402,825,32.9,4.4,174,893,0.00,0.00,11.60,0.743,8198,0.000,0.000,2628,2288,1175,1175,3883,0,0,0,0,0,0,26.51,25.64,25.15
$GC,907,1.02,869.9,2627,2287,1175,825,31.6,4.5,180,924,0.00,0.00,11.27,0.724,8198,0.000,0.000,2628,2288,954,954,3861,0,0,0,0,0,0,26.41,25.58,25.10
$GC,938,1.02,869.9,2627,2287,954,826,28.2,13.3,186,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,954,954,770,0,0,0,0,0,0,26.34,26.35,26.35
$GC,956,1.02,869.9,2627,2287,953,772,25.7,13.3,190,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,953,953,720,0,0,0,0,0,0,26.40,26.42,26.42
$GC,975,1.02,869.9,2627,2287,952,723,23.1,14.0,194,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,952,952,676,0,0,0,0,0,0,26.46,26.48,26.47
$GC,994,1.02,869.9,2627,2287,952,678,20.5,14.1,198,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,952,952,636,0,0,0,0,0,0,26.50,26.51,26.51
$GC,1012,1.02,869.9,2626,2287,951,638,17.9,14.2,202,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,951,951,601,0,0,0,0,0,0,26.53,26.55,26.54
$GC,1031,1.02,869.9,2627,2287,950,603,15.3,13.9,206,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,950,950,570,0,0,0,0,0,0,26.56,26.58,26.58
$GC,1050,1.02,869.9,2627,2287,950,571,12.6,14.7,210,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,949,949,543,0,0,0,0,0,0,26.53,26.55,26.54
$GC,1068,1.02,869.9,2627,2287,949,544,10.0,14.0,214,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,949,949,518,0,0,0,0,0,0,26.60,26.63,26.62
$GC,1087,1.02,869.9,2627,2287,948,519,7.6,12.8,218,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,947,947,496,0,0,0,0,0,0,26.63,26.65,26.65
$GC,1106,1.02,869.9,2627,2287,947,497,5.4,12.1,222,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2287,947,947,477,0,0,0,0,0,0,26.65,26.67,26.67
$GC,1124,1.02,869.9,2627,2287,947,477,3.1,13.0,226,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2287,946,946,460,0,0,0,0,0,0,26.67,26.69,26.69
$STATE,1135,end climb,SURFACE_DEPTH_REACHED
$STATE,1135,begin surface coast
$FINISH,0.1,0.999284
$STATE,1166,end surface coast,CONTROL_FINISHED_OK
$STATE,1166,begin surface
$SM_CCo,1258,0.00,0.000,0,0,945,880.07
$SM_GC,0.68,25.45,0.20,0.00,0.044,0.064,0.000,211,2120,945,-6.59,2.01,880.07,0,0,0,0,0,0,26.16,26.45,26.34
$IRIDIUM_FIX,4748.51,-12056.72,311016,174957
$TT8_MAMPS,0.024717,0.161784
$HUMID,49.56
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,21.60
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,33.3,6.2
$24V_AH,24.96,0.728
$10V_AH,10.23,1.028
$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,52.200,0.425,59.825,0.000,0.000,64.964,37.998,82.116,11.750,0.000,25.390,607.700,120.016,290.957,581.538,25.743,29.320,596.704,0.000,349.963,0.000,7.249,0.000
$DEVICE_MAMPS,88.740,66.555,771.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.637,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336344
$DATA_FILE_SIZE,10161,236
$CAP_FILE_SIZE,64060,0
$CFSIZE,1024409600,1021280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,311016,181556,4741.423,-12214.634,13,0.8,20,16.2,0.0,355.8,10,3.0