version: 66.12
glider: 401
mission: 6
dive: 2
start: 10 31 116 18 56 44
data:
$ID,401
$MISSION,6
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$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,14
$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,1
$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,2220
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,27
$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
$GPS1,311016,185144,4741.5063,-12214.5781,14,0.8,27,16.2,0.3,32.7,11,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-31.1
$GPS2,311016,185534,4741.5151,-12214.5713,8,0.8,32,16.2,0.0,327.4,11,3.0
$SPEED_LIMITS,0.262,0.272
$TGT_NAME,HEADING
$TGT_LATLONG,4732.669,-12223.747
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.125769,-0.240798
$KALMAN_X,36.649887,36.649887,36.649887,-93.641159,52.912994
$KALMAN_Y,87.801353,87.801353,87.801353,-98.813515,126.762535
$MHEAD_RNG_PITCHd_Wd,191.4,20000,-17.0,-9.524,-19.32,3205
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.02,-100.2,211,2199,947,147,0.0,0.0,0,27,0.00,0.00,-7.60,0.000,16390,0.000,0.000,211,2199,2092,2092,292,0,0,0,0,0,0,26.87,25.07,26.89
$GC,29,-1.02,-100.2,211,2199,2093,292,1.0,-3.8,2,54,21.48,0.00,0.00,0.000,2054,0.124,0.000,1985,2200,2093,2093,465,0,0,0,0,0,0,26.30,26.48,26.45
$GC,66,-1.02,-100.2,1986,2200,2093,462,6.7,-12.0,9,72,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2094,2094,481,0,0,0,0,0,0,26.75,26.77,26.77
$GC,85,-1.02,-100.2,1985,2200,2095,478,8.2,-8.1,13,91,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2095,2095,495,0,0,0,0,0,0,26.77,26.79,26.79
$GC,105,-1.02,-100.2,1985,2200,2095,492,9.9,-8.8,17,110,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2200,2095,2095,507,0,0,0,0,0,0,26.79,26.81,26.81
$GC,123,-1.02,-100.2,1985,2200,2096,505,11.7,-9.6,21,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2096,2096,518,0,0,0,0,0,0,26.78,26.80,26.79
$GC,142,-1.02,-100.2,1985,2200,2096,516,13.1,-7.2,25,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2096,2096,528,0,0,0,0,0,0,26.82,26.83,26.83
$GC,161,-1.02,-100.2,1985,2200,2097,526,14.8,-8.8,29,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2200,2097,2097,537,0,0,0,0,0,0,26.82,26.84,26.84
$GC,180,-1.02,-100.2,1985,2200,2097,535,16.5,-8.6,33,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2097,2097,545,0,0,0,0,0,0,26.84,26.85,26.85
$GC,200,-1.02,-100.2,1985,2200,2097,542,17.9,-7.2,37,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2097,2097,551,0,0,0,0,0,0,26.84,26.86,26.86
$GC,219,-1.02,-100.2,1985,2200,2098,549,19.3,-7.5,41,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2098,2098,557,0,0,0,0,0,0,26.85,26.87,26.86
$GC,238,-1.02,-100.2,1985,2200,2098,556,20.8,-7.3,45,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2200,2098,2098,563,0,0,0,0,0,0,26.86,26.88,26.87
$GC,257,-1.02,-100.2,1985,2200,2099,560,22.2,-7.4,49,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2098,2098,567,0,0,0,0,0,0,26.86,26.89,26.89
$GC,276,-1.02,-100.2,1985,2200,2099,565,23.7,-7.6,53,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2099,2099,571,0,0,0,0,0,0,26.87,26.89,26.89
$GC,295,-1.02,-100.2,1985,2200,2099,569,25.3,-7.9,57,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2099,2099,575,0,0,0,0,0,0,26.88,26.90,26.89
$GC,314,-1.02,-100.2,1985,2200,2099,573,26.7,-7.0,61,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2100,2100,578,0,0,0,0,0,0,26.89,26.91,26.90
$GC,333,-1.02,-100.2,1985,2200,2100,576,27.9,-6.7,65,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2100,2100,581,0,0,0,0,0,0,26.89,26.91,26.91
$GC,352,-1.02,-100.2,1985,2200,2100,579,29.2,-6.8,69,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2100,2100,583,0,0,0,0,0,0,26.90,26.91,26.91
$GC,375,-1.02,-100.2,1985,2200,2101,581,31.0,-7.4,73,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2101,2101,585,0,0,0,0,0,0,26.91,26.92,26.91
$GC,396,-1.02,-100.2,1985,2200,2101,582,32.5,-7.8,77,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2101,2101,587,0,0,0,0,0,0,26.90,26.92,26.92
$GC,415,-1.02,-100.2,1985,2200,2101,584,34.0,-7.6,81,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2101,2101,588,0,0,0,0,0,0,26.91,26.94,26.93
$GC,434,-1.02,-100.2,1985,2200,2102,586,35.4,-7.2,85,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2102,2102,589,0,0,0,0,0,0,26.92,26.94,26.94
$GC,453,-1.02,-100.2,1985,2200,2102,587,36.9,-7.3,89,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2102,2102,591,0,0,0,0,0,0,26.93,26.94,26.94
$GC,472,-1.02,-100.2,1985,2200,2102,589,38.3,-7.1,93,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2200,2103,2103,592,0,0,0,0,0,0,26.93,26.95,26.94
$GC,491,-1.02,-100.2,1985,2200,2103,589,39.7,-7.5,97,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2200,2103,2103,593,0,0,0,0,0,0,26.94,26.96,26.95
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,502,begin apogee
$GC,505,-0.30,0.0,1985,2341,2103,592,40.6,-7.7,99,519,2.50,0.00,7.55,0.756,10246,0.085,0.000,2217,2341,1968,1968,4095,0,0,0,0,0,0,26.51,26.29,25.47
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,521,1.02,100.2,2217,2341,1967,866,41.5,0.0,101,539,4.32,0.00,6.78,0.728,10246,0.066,0.000,2624,2341,1852,1852,4095,0,0,0,0,0,0,26.44,26.17,25.38
$GC,553,1.02,253.4,2623,2341,1851,824,40.8,4.8,107,565,0.00,0.00,9.50,0.796,8198,0.000,0.000,2624,2341,1672,1672,4095,0,0,0,0,0,0,26.70,26.03,25.29
$GC,579,1.02,415.4,2623,2341,1672,826,39.7,4.5,112,591,0.00,0.00,9.98,0.787,8198,0.000,0.000,2624,2341,1483,1483,4095,0,0,0,0,0,0,26.56,25.91,25.19
$GC,605,1.02,580.8,2623,2341,1483,825,38.6,4.4,117,617,0.00,0.00,10.05,0.783,8198,0.000,0.000,2624,2341,1291,1291,4095,0,0,0,0,0,0,26.44,25.80,25.07
$GC,631,1.02,756.0,2623,2341,1291,827,37.6,4.1,122,644,0.00,0.00,10.77,0.786,8198,0.000,0.000,2624,2341,1087,1087,4095,0,0,0,0,0,0,26.34,25.70,25.00
$GC,657,1.02,884.5,2623,2341,1086,826,36.3,5.5,127,669,0.00,0.00,8.30,0.721,8198,0.000,0.000,2624,2341,937,937,4095,0,0,0,0,0,0,26.25,25.67,24.97
$GC,682,1.02,884.5,2623,2341,936,828,33.1,13.5,132,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,936,936,771,0,0,0,0,0,0,26.22,26.24,26.23
$GC,701,1.02,884.5,2623,2341,935,773,30.8,12.9,136,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,936,936,720,0,0,0,0,0,0,26.29,26.31,26.31
$GC,720,1.02,884.5,2623,2341,935,723,28.5,12.6,140,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,935,935,676,0,0,0,0,0,0,26.35,26.37,26.36
$GC,739,1.02,884.5,2623,2340,935,678,26.4,11.9,144,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,934,934,636,0,0,0,0,0,0,26.39,26.42,26.41
$GC,757,1.02,884.5,2623,2341,934,638,24.1,12.1,148,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,934,934,600,0,0,0,0,0,0,26.44,26.46,26.46
$GC,776,1.02,884.5,2623,2341,934,602,21.8,12.1,152,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,933,933,569,0,0,0,0,0,0,26.47,26.49,26.49
$GC,795,1.02,884.5,2624,2341,933,569,19.6,11.9,156,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,932,932,540,0,0,0,0,0,0,26.51,26.52,26.52
$GC,813,1.02,884.5,2624,2341,932,542,17.2,13.2,160,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,932,932,516,0,0,0,0,0,0,26.53,26.55,26.55
$GC,832,1.02,884.5,2623,2341,931,517,14.8,13.2,164,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,931,931,494,0,0,0,0,0,0,26.55,26.58,26.57
$GC,851,1.02,884.5,2623,2341,931,495,12.2,14.2,168,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,930,930,474,0,0,0,0,0,0,26.58,26.60,26.59
$GC,870,1.02,884.5,2623,2341,930,475,10.0,12.4,172,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,930,930,457,0,0,0,0,0,0,26.60,26.62,26.62
$GC,888,1.02,884.5,2624,2341,929,458,7.9,11.1,176,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,929,929,442,0,0,0,0,0,0,26.58,26.60,26.59
$GC,907,1.02,884.5,2623,2341,928,442,5.4,13.0,180,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,928,928,429,0,0,0,0,0,0,26.64,26.65,26.65
$GC,926,1.02,884.5,2623,2341,928,428,3.1,12.5,184,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2341,928,928,417,0,0,0,0,0,0,26.65,26.67,26.67
$STATE,936,end climb,SURFACE_DEPTH_REACHED
$STATE,936,begin surface coast
$FINISH,0.1,0.999282
$STATE,967,end surface coast,CONTROL_FINISHED_OK
$STATE,967,begin surface
$SM_CCo,1059,0.00,0.000,0,0,926,896.38
$SM_GC,0.83,25.35,0.15,0.00,0.041,0.074,0.000,210,2195,926,-6.59,1.67,896.38,0,0,0,0,0,0,26.16,26.44,26.34
$IRIDIUM_FIX,4748.51,-12056.72,311016,185209
$TT8_MAMPS,0.024717,0.162533
$HUMID,50.07
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,21.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,30.1,6.1
$24V_AH,24.97,0.793
$10V_AH,10.26,1.059
$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,53.650,0.325,62.925,0.000,0.000,0.000,0.000,0.000,4.750,0.000,33.821,513.413,60.568,246.863,322.390,18.908,30.292,497.215,0.000,289.001,0.000,5.455,0.000
$DEVICE_MAMPS,123.930,77.265,795.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,131.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336440
$DATA_FILE_SIZE,6840,194
$CAP_FILE_SIZE,83960,0
$CFSIZE,1024409600,1021165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,311016,191519,4741.445,-12214.565,14,0.9,25,16.2,0.0,341.8,9,3.0