version: 66.12
glider: 401
mission: 6
dive: 3
start: 10 31 116 19 31 30
data:
$ID,401
$MISSION,6
$DIVE,3
$N_DIVES,3
$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,2370
$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,70
$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,80
$R_STBD_OVSHOOT,45
$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,0.0015
$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,1
$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
$GPS1,311016,192629,4741.4692,-12214.5615,5,0.9,27,16.2,0.0,326.3,10,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-31.9
$GPS2,311016,193018,4741.4805,-12214.5557,20,0.9,25,16.2,0.5,336.0,10,3.0
$SPEED_LIMITS,0.262,0.272
$TGT_NAME,HEADING
$TGT_LATLONG,4732.634,-12223.731
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.141147,-0.232118
$KALMAN_X,109.879807,58.977425,57.757534,-188.798706,37.372524
$KALMAN_Y,185.389633,111.960030,109.873711,-298.277405,78.682999
$MHEAD_RNG_PITCHd_Wd,195.1,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.17,-100.2,210,2192,927,190,0.0,0.0,0,27,0.00,0.00,-7.80,0.000,16390,0.000,0.000,210,2192,2093,2093,319,0,0,0,0,0,0,26.79,25.13,26.82
$GC,28,-1.17,-100.2,209,2192,2094,318,0.8,-1.1,2,53,21.62,0.00,0.00,0.000,2054,0.124,0.000,1987,2186,2095,2095,480,0,0,0,0,0,0,26.25,26.43,26.39
$GC,66,-1.17,-100.2,1986,2186,2096,477,6.5,-11.7,9,72,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2096,2096,494,0,0,0,0,0,0,26.69,26.70,26.70
$GC,85,-1.17,-100.2,1986,2186,2096,492,8.1,-7.7,13,91,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2096,2096,507,0,0,0,0,0,0,26.71,26.73,26.72
$GC,104,-1.17,-100.2,1986,2186,2096,504,9.5,-7.1,17,110,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2096,2096,518,0,0,0,0,0,0,26.72,26.74,26.74
$GC,123,-1.17,-100.2,1986,2186,2097,516,11.0,-7.6,21,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2097,2097,528,0,0,0,0,0,0,26.74,26.76,26.76
$GC,142,-1.17,-100.2,1986,2186,2097,526,12.6,-8.6,25,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2097,2097,537,0,0,0,0,0,0,26.75,26.77,26.77
$GC,161,-1.17,-100.2,1986,2186,2097,535,14.0,-7.0,29,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2097,2097,545,0,0,0,0,0,0,26.77,26.79,26.78
$GC,180,-1.17,-100.2,1986,2186,2098,543,15.4,-7.4,33,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2098,2098,552,0,0,0,0,0,0,26.78,26.79,26.79
$GC,199,-1.17,-100.2,1986,2186,2098,550,17.0,-8.3,37,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2098,2098,558,0,0,0,0,0,0,26.79,26.80,26.80
$GC,219,-1.17,-100.2,1986,2186,2099,556,18.6,-8.1,41,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2186,2099,2099,563,0,0,0,0,0,0,26.79,26.82,26.82
$GC,238,-1.17,-100.2,1986,2186,2099,561,20.1,-8.0,45,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2099,2099,568,0,0,0,0,0,0,26.80,26.82,26.82
$GC,257,-1.17,-100.2,1986,2186,2099,566,21.7,-7.9,49,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2099,2099,572,0,0,0,0,0,0,26.82,26.84,26.83
$GC,276,-1.17,-100.2,1986,2186,2100,570,23.3,-8.2,53,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2100,2100,575,0,0,0,0,0,0,26.82,26.84,26.84
$GC,295,-1.17,-100.2,1986,2186,2100,573,25.0,-8.6,57,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2100,2100,579,0,0,0,0,0,0,26.83,26.85,26.84
$GC,314,-1.17,-100.2,1986,2186,2101,576,26.7,-8.6,61,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2101,2101,581,0,0,0,0,0,0,26.83,26.85,26.85
$GC,333,-1.17,-100.2,1986,2186,2101,580,28.3,-8.3,65,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2101,2101,584,0,0,0,0,0,0,26.84,26.86,26.86
$GC,352,-1.17,-100.2,1986,2186,2102,582,29.8,-8.1,69,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2101,2101,589,0,0,0,0,0,0,26.85,26.87,26.86
$GC,376,-1.17,-100.2,1986,2186,2102,587,31.7,-7.7,73,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2102,2102,590,0,0,0,0,0,0,26.86,26.87,26.87
$GC,395,-1.17,-100.2,1986,2186,2102,588,33.1,-7.3,77,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2102,2102,591,0,0,0,0,0,0,26.86,26.88,26.88
$GC,414,-1.17,-100.2,1986,2186,2102,589,34.6,-7.5,81,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2104,2104,592,0,0,0,0,0,0,26.87,26.89,26.89
$GC,433,-1.17,-100.2,1986,2186,2103,591,36.0,-7.2,85,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2103,2103,594,0,0,0,0,0,0,26.88,26.90,26.89
$GC,453,-1.17,-100.2,1986,2186,2103,591,37.5,-7.5,89,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2103,2103,594,0,0,0,0,0,0,26.89,26.90,26.90
$GC,473,-1.17,-100.2,1986,2186,2103,592,38.9,-7.5,93,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2186,2105,2105,595,0,0,0,0,0,0,26.89,26.91,26.91
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,491,-0.30,0.0,1986,2315,2104,595,40.2,-7.5,96,504,3.03,0.00,7.62,0.758,10246,0.083,0.000,2265,2315,1967,1967,4095,0,0,0,0,0,0,26.48,26.26,25.44
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,507,1.17,100.2,2266,2315,1968,866,41.1,0.0,98,525,4.82,0.00,6.95,0.729,10246,0.060,0.000,2722,2315,1850,1850,4095,0,0,0,0,0,0,26.41,25.91,25.35
$GC,538,1.30,188.2,2722,2315,1849,825,39.9,6.8,104,551,0.40,0.00,6.25,0.686,10246,0.055,0.000,2764,2315,1747,1747,4095,0,0,0,0,0,0,26.36,25.86,25.32
$GC,564,1.43,278.2,2763,2315,1746,825,38.3,6.7,109,577,0.40,0.00,6.45,0.682,10246,0.057,0.000,2806,2315,1642,1642,4095,0,0,0,0,0,0,26.30,25.81,25.27
$GC,591,1.48,311.1,2806,2315,1642,825,36.2,8.5,114,598,0.10,0.00,3.50,0.421,10246,0.088,0.000,2822,2315,1605,1605,4095,0,0,0,0,0,0,26.28,26.04,25.29
$GC,611,1.48,311.1,2821,2315,1605,824,34.3,9.5,118,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1605,1605,787,0,0,0,0,0,0,26.54,26.55,26.55
$GC,630,1.48,311.1,2821,2315,1605,785,32.3,10.5,122,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1604,1604,750,0,0,0,0,0,0,26.57,26.58,26.58
$GC,649,1.48,311.1,2821,2315,1604,750,30.3,11.0,126,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1604,1604,720,0,0,0,0,0,0,26.60,26.62,26.61
$GC,667,1.48,311.1,2822,2315,1603,720,28.3,10.7,130,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1603,1603,693,0,0,0,0,0,0,26.62,26.63,26.63
$GC,686,1.48,311.1,2821,2315,1603,693,26.3,10.8,134,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1603,1603,669,0,0,0,0,0,0,26.64,26.65,26.65
$GC,705,1.48,311.1,2821,2315,1602,670,24.3,10.9,138,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1602,1602,649,0,0,0,0,0,0,26.65,26.67,26.67
$GC,724,1.48,311.1,2821,2314,1602,649,22.5,9.7,142,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1602,1602,630,0,0,0,0,0,0,26.67,26.70,26.68
$GC,742,1.49,316.4,2821,2314,1602,630,20.7,9.4,146,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1601,1601,614,0,0,0,0,0,0,26.69,26.70,26.70
$GC,761,1.49,316.4,2821,2314,1601,614,18.9,10.0,150,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2315,1601,1601,599,0,0,0,0,0,0,26.70,26.72,26.71
$GC,780,1.49,316.4,2821,2315,1601,599,16.9,10.7,154,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1601,1601,586,0,0,0,0,0,0,26.71,26.73,26.72
$GC,799,1.49,316.4,2821,2315,1600,586,14.9,11.0,158,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1600,1600,575,0,0,0,0,0,0,26.72,26.74,26.74
$GC,817,1.49,316.4,2821,2315,1599,575,12.9,10.2,162,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1599,1599,565,0,0,0,0,0,0,26.74,26.75,26.75
$GC,836,1.49,316.4,2822,2315,1599,565,10.9,10.8,166,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1599,1599,556,0,0,0,0,0,0,26.74,26.77,26.76
$GC,855,1.49,316.4,2821,2314,1598,556,9.2,10.0,170,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2315,1598,1598,549,0,0,0,0,0,0,26.75,26.77,26.77
$GC,874,1.54,351.7,2821,2315,1598,548,7.5,8.4,174,881,0.15,0.00,3.58,0.304,10246,0.073,0.000,2843,2316,1557,1557,4095,0,0,0,0,0,0,26.48,26.29,25.71
$GC,894,1.54,351.7,2842,2314,1556,826,5.5,9.8,178,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2315,1556,1556,786,0,0,0,0,0,0,26.75,26.77,26.76
$GC,913,1.54,351.7,2842,2315,1556,782,3.6,10.3,182,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2315,1555,1555,746,0,0,0,0,0,0,26.77,26.78,26.78
$STATE,931,end climb,SURFACE_DEPTH_REACHED
$STATE,931,begin surface coast
$FINISH,0.1,0.999279
$STATE,965,end surface coast,CONTROL_FINISHED_OK
$STATE,965,begin surface
$SM_CCo,1059,0.00,0.000,0,0,1554,357.18
$SM_GC,1.30,27.65,0.08,0.00,0.043,0.114,0.000,210,2223,1554,-6.75,2.26,357.18,0,0,0,0,0,0,26.35,26.59,26.47
$IRIDIUM_FIX,4748.51,-12056.72,311016,192656
$TT8_MAMPS,0.024717,0.131824
$HUMID,49.40
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,21.20
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,30.3,6.1
$24V_AH,25.13,0.824
$10V_AH,10.32,1.080
$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,58.175,0.225,34.350,0.000,0.000,0.000,0.000,0.000,2.750,0.000,26.767,522.831,59.712,237.752,316.474,19.148,31.522,488.646,0.000,290.516,0.000,5.438,0.000
$DEVICE_MAMPS,123.930,113.985,758.115,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,132.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336392
$DATA_FILE_SIZE,6844,195
$CAP_FILE_SIZE,67851,0
$CFSIZE,1024409600,1021116416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,311016,195006,4741.516,-12214.672,5,0.9,26,16.2,0.3,359.2,10,3.0