version: 66.12
glider: 401
mission: 6
dive: 4
start: 10 31 116 20 8 31
data:
$ID,401
$MISSION,6
$DIVE,4
$N_DIVES,4
$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,10
$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,2380
$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,73
$R_STBD_OVSHOOT,50
$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
$GPS1,311016,200107,4741.5420,-12214.6631,5,1.1,31,16.2,0.3,333.7,10,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-49.3
$GPS2,311016,200719,4741.5562,-12214.6602,8,0.9,31,16.2,0.3,153.7,10,3.0
$SPEED_LIMITS,0.540,0.550
$TGT_NAME,HEADING
$TGT_LATLONG,4732.710,-12223.837
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.318040,-0.448871
$KALMAN_X,115.321144,56.290195,53.537228,-315.390900,29.812782
$KALMAN_Y,333.769562,186.939240,173.457565,-450.206482,37.311310
$MHEAD_RNG_PITCHd_Wd,199.1,20000,-6.4,-9.524,-9.82,16809
$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,16,-0.53,-100.2,210,2221,1554,190,0.0,0.0,0,22,0.00,0.00,-3.58,0.000,16390,0.000,0.000,210,2220,2093,2093,271,0,0,0,0,0,0,26.79,25.15,26.79
$GC,24,-0.53,-100.2,210,2220,2094,271,1.1,0.0,1,54,23.90,0.00,0.00,0.000,2054,0.119,0.000,2197,2220,2096,2096,479,0,0,0,0,0,0,26.27,26.40,26.35
$GC,67,-0.53,-100.2,2197,2221,2095,475,5.7,-5.6,9,73,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2096,2096,493,0,0,0,0,0,0,26.70,26.72,26.72
$GC,86,-0.53,-100.2,2197,2220,2096,490,6.4,-3.8,13,92,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2096,2096,505,0,0,0,0,0,0,26.72,26.74,26.74
$GC,105,-0.53,-100.2,2197,2220,2095,503,7.2,-4.1,17,111,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2096,2096,517,0,0,0,0,0,0,26.74,26.76,26.75
$GC,124,-0.53,-100.2,2197,2220,2096,515,8.0,-4.1,21,130,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2096,2096,528,0,0,0,0,0,0,26.75,26.77,26.77
$GC,143,-0.53,-100.2,2197,2221,2096,526,8.7,-3.5,25,149,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2096,2096,537,0,0,0,0,0,0,26.76,26.78,26.78
$GC,162,-0.53,-100.2,2197,2221,2096,535,9.3,-3.1,29,168,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2096,2096,545,0,0,0,0,0,0,26.77,26.79,26.79
$GC,181,-0.53,-100.2,2197,2221,2096,543,10.0,-3.6,33,187,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2096,2096,552,0,0,0,0,0,0,26.78,26.80,26.79
$GC,201,-0.53,-100.2,2196,2220,2097,550,10.8,-4.3,37,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2097,2097,558,0,0,0,0,0,0,26.79,26.81,26.80
$GC,220,-0.53,-100.2,2196,2220,2097,556,11.6,-4.1,41,225,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2097,2097,564,0,0,0,0,0,0,26.80,26.82,26.82
$GC,239,-0.53,-100.2,2197,2221,2097,562,12.4,-4.3,45,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2097,2097,569,0,0,0,0,0,0,26.81,26.82,26.82
$GC,258,-0.53,-100.2,2196,2221,2097,567,13.1,-3.6,49,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2097,2097,573,0,0,0,0,0,0,26.82,26.84,26.83
$GC,277,-0.53,-100.2,2197,2220,2097,571,13.8,-3.5,53,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2097,2097,576,0,0,0,0,0,0,26.82,26.84,26.84
$GC,296,-0.53,-100.2,2197,2220,2098,575,14.5,-3.2,57,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2098,2098,580,0,0,0,0,0,0,26.83,26.84,26.84
$GC,315,-0.53,-100.2,2197,2220,2098,578,15.0,-2.8,61,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2098,2098,583,0,0,0,0,0,0,26.84,26.86,26.85
$GC,334,-0.53,-100.2,2196,2220,2098,581,15.6,-2.9,65,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2098,2098,585,0,0,0,0,0,0,26.84,26.86,26.86
$GC,353,-0.53,-100.2,2197,2220,2098,583,16.3,-3.3,69,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2098,2098,587,0,0,0,0,0,0,26.85,26.87,26.86
$GC,372,-0.53,-100.2,2197,2220,2098,585,16.9,-3.6,73,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2098,2098,589,0,0,0,0,0,0,26.86,26.88,26.87
$GC,392,-0.53,-100.2,2196,2221,2099,588,17.6,-3.4,77,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2099,2099,591,0,0,0,0,0,0,26.86,26.88,26.88
$GC,411,-0.53,-100.2,2196,2221,2098,589,18.3,-3.5,81,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2099,2099,593,0,0,0,0,0,0,26.87,26.89,26.89
$GC,430,-0.53,-100.2,2197,2220,2099,591,18.9,-3.0,85,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2099,2099,594,0,0,0,0,0,0,26.87,26.89,26.89
$GC,449,-0.53,-100.2,2197,2221,2099,593,19.5,-3.0,89,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2099,2099,595,0,0,0,0,0,0,26.88,26.89,26.90
$GC,468,-0.53,-100.2,2196,2221,2099,594,20.1,-3.0,93,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2099,2099,596,0,0,0,0,0,0,26.89,26.90,26.90
$GC,487,-0.53,-100.2,2197,2220,2099,594,20.7,-3.2,97,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2099,2099,597,0,0,0,0,0,0,26.89,26.91,26.91
$GC,506,-0.53,-100.2,2197,2221,2099,595,21.4,-3.5,101,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2099,2099,598,0,0,0,0,0,0,26.89,26.91,26.91
$GC,525,-0.53,-100.2,2197,2220,2100,596,22.1,-3.5,105,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2100,2100,599,0,0,0,0,0,0,26.90,26.92,26.91
$GC,544,-0.53,-100.2,2197,2221,2100,597,22.7,-3.3,109,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2101,2101,599,0,0,0,0,0,0,26.90,26.92,26.92
$GC,563,-0.53,-100.2,2196,2220,2100,598,23.4,-3.4,113,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2100,2100,600,0,0,0,0,0,0,26.91,26.93,26.92
$GC,583,-0.53,-100.2,2196,2221,2100,598,24.0,-3.4,117,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2100,2100,600,0,0,0,0,0,0,26.91,26.94,26.93
$GC,602,-0.53,-100.2,2197,2221,2100,598,24.7,-3.3,121,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2100,2100,601,0,0,0,0,0,0,26.92,26.94,26.94
$GC,621,-0.53,-100.2,2197,2221,2100,599,25.3,-3.2,125,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2100,2100,601,0,0,0,0,0,0,26.92,26.94,26.94
$GC,640,-0.53,-100.2,2197,2221,2100,599,25.9,-3.0,129,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2100,2100,601,0,0,0,0,0,0,26.93,26.94,26.94
$GC,659,-0.53,-100.2,2197,2220,2101,599,26.5,-3.0,133,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2101,2101,601,0,0,0,0,0,0,26.93,26.95,26.95
$GC,678,-0.53,-100.2,2196,2220,2101,599,27.1,-3.1,137,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2101,2101,602,0,0,0,0,0,0,26.94,26.95,26.95
$GC,697,-0.53,-100.2,2197,2221,2101,600,27.7,-3.2,141,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2101,2101,601,0,0,0,0,0,0,26.94,26.96,26.96
$GC,716,-0.53,-100.2,2197,2220,2101,600,28.3,-2.9,145,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2101,2101,602,0,0,0,0,0,0,26.94,26.96,26.96
$GC,735,-0.53,-100.2,2197,2221,2101,600,29.0,-3.3,149,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2220,2101,2101,602,0,0,0,0,0,0,26.94,26.96,26.96
$GC,754,-0.53,-100.2,2197,2221,2101,600,29.6,-3.2,153,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2221,2101,2101,602,0,0,0,0,0,0,26.95,26.96,26.96
$STATE,765,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,765,begin apogee
$GC,769,-0.30,0.0,2196,2315,2101,602,30.0,-3.1,155,782,0.80,0.00,7.53,0.671,10246,0.067,0.000,2275,2315,1967,1967,4095,0,0,0,0,0,0,26.58,26.34,25.59
$STATE,783,end apogee,CONTROL_FINISHED_OK
$STATE,783,begin climb
$GC,784,0.53,100.2,2274,2314,1967,866,30.4,0.0,157,797,2.67,0.00,6.82,0.650,10246,0.067,0.000,2531,2315,1851,1851,4095,0,0,0,0,0,0,26.48,26.23,25.51
$GC,810,2.31,1281.5,2530,2315,1851,823,30.0,2.5,162,880,5.80,0.00,60.15,0.810,10246,0.041,0.000,3096,2315,474,474,1863,0,0,0,0,0,0,26.44,25.44,24.84
$GC,894,2.31,1281.5,3096,2315,474,824,19.2,12.0,177,899,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2315,474,474,753,0,0,0,0,0,0,25.98,26.00,25.99
$GC,912,2.31,1281.5,3096,2315,473,757,17.3,10.3,181,918,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2315,473,473,692,0,0,0,0,0,0,26.09,26.11,26.11
$GC,931,2.31,1281.5,3096,2315,473,695,15.2,11.0,185,937,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2315,473,473,637,0,0,0,0,0,0,26.17,26.19,26.19
$GC,950,2.31,1281.5,3096,2315,473,640,13.3,10.8,189,956,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2315,472,472,588,0,0,0,0,0,0,26.24,26.26,26.25
$GC,968,2.31,1281.5,3096,2315,471,590,11.3,10.1,193,974,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2315,471,471,544,0,0,0,0,0,0,26.29,26.31,26.31
$GC,987,2.31,1281.5,3096,2315,470,546,9.3,10.8,197,993,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2315,471,471,506,0,0,0,0,0,0,26.34,26.35,26.35
$GC,1006,2.31,1281.5,3096,2315,471,507,7.3,10.6,201,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2315,471,471,472,0,0,0,0,0,0,26.37,26.39,26.39
$GC,1025,2.31,1281.5,3096,2315,470,473,5.4,10.8,205,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2315,469,469,442,0,0,0,0,0,0,26.41,26.43,26.43
$GC,1043,2.31,1281.5,3096,2315,469,443,3.4,11.0,209,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2315,470,470,415,0,0,0,0,0,0,26.44,26.46,26.46
$STATE,1057,end climb,SURFACE_DEPTH_REACHED
$STATE,1057,begin surface coast
$FINISH,0.1,0.999285
$STATE,1092,end surface coast,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$SM_CCo,1189,0.00,0.000,0,0,468,1290.48
$SM_GC,0.66,30.40,0.08,0.00,0.039,0.108,0.000,211,2222,468,-6.77,2.23,1290.48,0,0,0,0,0,0,26.10,26.32,26.23
$IRIDIUM_FIX,4748.51,-12056.72,311016,200348
$TT8_MAMPS,0.024717,0.134071
$HUMID,48.03
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,21.40
$XPDR_PINGS,8
$24V_AH,24.84,0.865
$10V_AH,10.30,1.104
$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,63.575,0.175,74.500,0.000,0.000,0.000,0.000,0.000,2.000,0.000,32.671,562.696,60.488,289.108,358.301,20.417,32.441,571.611,0.000,327.461,0.000,1.014,0.000
$DEVICE_MAMPS,119.340,107.865,810.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,149.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6860,221
$CAP_FILE_SIZE,72454,0
$CFSIZE,1024409600,1021050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,311016,202921,4741.518,-12214.725,4,1.2,30,16.2,0.0,0.0,9,3.0