version: 66.12
glider: 401
mission: 15
dive: 5
start: 2 15 117 0 11 20
data:
$ID,401
$MISSION,15
$DIVE,5
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,220
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74798
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0020000001
$HD_B,0.017689999
$HD_C,5.7000002e-06
$HEADING,-1
$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,2015.1343
$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,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2658
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,55
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0020000001
$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,-51.006809
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,134
$DEVICE5,151
$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
$SEABIRD_C_Z,2936.3699
$GPS1,140217,235654,4743.7783,-12223.2256,3,0.9,14,16.3,0.0,0.0,9,5.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-47.8
$GPS2,150217,001019,4743.7549,-12223.2939,4,0.9,20,16.3,0.0,0.0,9,3.7
$SPEED_LIMITS,0.119,0.303
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.287694,0.096064
$KALMAN_X,1877.514893,1103.766968,246.121872,-1993.294434,108.794006
$KALMAN_Y,-70.215469,42.373238,82.281647,469.729980,-105.797401
$MHEAD_RNG_PITCHd_Wd,272.2,1930,-7.2,-10.000,-18.25,5764
$D_GRID,155
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,1005,-1.34,-391.0,2219,3553,2877,4094,69.1,-5.3,161,1012,0.00,2.92,0.00,0.000,1030,0.000,0.036,2219,2352,2876,2876,4094,0,0,0,0,0,0,26.57,26.52,26.59,9.54,33.50
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$GC,2035,-1.34,-391.0,2219,2352,2888,4094,123.9,-5.9,329,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2888,2888,4095,0,0,0,0,0,0,26.89,26.91,26.91,9.55,33.38
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$GC,2108,-1.34,-391.0,2219,2352,2889,4094,128.5,-6.4,341,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2889,2889,4094,0,0,0,0,0,0,26.90,26.91,26.91,9.54,33.10
$GC,2145,-1.34,-391.0,2219,2351,2890,4094,130.9,-6.4,347,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2890,2890,4095,0,0,0,0,0,0,26.90,26.91,26.91,9.54,33.38
$GC,2182,-1.34,-391.0,2219,2352,2890,4094,133.2,-6.2,353,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2890,2890,4095,0,0,0,0,0,0,26.90,26.92,26.91,9.55,33.06
$GC,2218,-1.34,-391.0,2219,2352,2890,4095,135.5,-6.5,359,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2890,2890,4094,0,0,0,0,0,0,26.91,26.93,26.92,9.54,33.34
$GC,2255,-1.34,-391.0,2218,2352,2891,4094,137.9,-6.6,365,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2352,2891,2891,4095,0,0,0,0,0,0,26.91,26.93,26.92,9.54,33.69
$GC,2292,-1.34,-391.0,2219,2352,2891,4095,140.3,-6.5,371,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2891,2891,4094,0,0,0,0,0,0,26.91,26.93,26.93,9.55,33.14
$GC,2328,-1.34,-391.0,2219,2352,2892,4094,142.8,-6.8,377,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2892,2892,4094,0,0,0,0,0,0,26.91,26.94,26.93,9.54,33.06
$GC,2365,-1.34,-391.0,2219,2352,2893,4094,145.2,-6.8,383,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2352,2892,2892,4094,0,0,0,0,0,0,26.91,26.94,26.93,9.55,33.26
$GC,2402,-1.34,-391.0,2219,2352,2893,4094,147.6,-6.5,389,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2352,2893,2893,4094,0,0,0,0,0,0,26.91,26.94,26.94,9.54,33.46
$STATE,2413,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2413,begin apogee
$GC,2416,-0.38,0.0,2219,2352,2893,4094,148.4,-6.6,391,2451,3.17,0.00,25.85,2.046,10246,0.050,0.000,2527,2351,2400,2400,4094,0,0,0,0,0,0,26.57,24.88,23.87,9.54,33.18
$STATE,2452,end apogee,CONTROL_FINISHED_OK
$STATE,2452,begin climb
$GC,2453,1.34,391.0,2527,2352,2400,4094,149.5,0.0,397,2489,5.62,0.00,24.67,2.017,10246,0.037,0.000,3066,2351,1944,1944,4094,0,0,0,0,0,0,25.63,24.55,23.25,9.46,33.26
$GC,2519,1.66,554.4,3066,2351,1943,4094,146.1,7.1,408,2538,1.08,0.00,11.35,1.779,10246,0.033,0.000,3174,2351,1754,1754,4094,0,0,0,0,0,0,25.34,24.39,23.39,9.37,32.71
$GC,2569,1.66,554.4,3174,2351,1753,4094,141.3,10.5,416,2576,0.00,3.17,0.00,0.000,516,0.000,0.050,3174,1168,1753,1753,4094,0,0,0,0,0,0,25.63,25.26,25.64,9.34,32.71
$GC,2648,1.66,554.4,3173,1168,1750,4094,132.7,10.7,429,2655,0.00,3.05,0.00,0.000,1030,0.000,0.037,3174,2349,1750,1750,4094,0,0,0,0,0,0,25.70,25.59,25.72,9.33,32.51
$GC,2686,1.66,554.4,3173,2349,1750,4094,128.6,11.3,435,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1750,1750,4094,0,0,0,0,0,0,26.01,26.02,26.02,9.33,32.75
$GC,2722,1.66,554.4,3174,2349,1749,4094,124.8,10.5,441,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1748,1748,4094,0,0,0,0,0,0,26.07,26.09,26.08,9.33,32.91
$GC,2758,1.66,554.4,3174,2349,1747,4094,120.6,11.8,447,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1748,1748,4094,0,0,0,0,0,0,26.14,26.15,26.15,9.34,33.57
$GC,2795,1.66,554.4,3174,2349,1747,4094,116.1,12.4,453,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1747,1747,4094,0,0,0,0,0,0,26.19,26.20,26.20,9.33,32.55
$GC,2831,1.66,554.4,3174,2349,1745,4094,111.5,13.0,459,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1745,1745,4094,0,0,0,0,0,0,26.21,26.22,26.22,9.33,33.61
$GC,2867,1.66,554.4,3173,2349,1745,4094,106.9,12.5,465,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1744,1744,4094,0,0,0,0,0,0,26.27,26.29,26.29,9.33,32.79
$GC,2904,1.66,554.4,3174,2349,1743,4094,102.5,12.3,471,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1743,1743,4094,0,0,0,0,0,0,26.31,26.32,26.32,9.33,32.79
$GC,2940,1.66,554.4,3173,2349,1742,4094,98.3,11.6,477,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1742,1742,4094,0,0,0,0,0,0,26.34,26.36,26.36,9.33,33.34
$GC,2976,1.66,554.4,3174,2349,1741,4094,94.1,11.3,483,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1741,1741,4094,0,0,0,0,0,0,26.37,26.39,26.39,9.33,32.83
$GC,3012,1.66,554.4,3173,2349,1740,4094,89.9,11.6,489,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1740,1740,4094,0,0,0,0,0,0,26.39,26.41,26.41,9.33,32.79
$GC,3049,1.66,554.4,3174,2349,1739,4094,85.6,11.9,495,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1738,1738,4094,0,0,0,0,0,0,26.42,26.44,26.44,9.33,33.26
$GC,3085,1.66,554.4,3173,2348,1738,4094,81.2,12.2,501,3092,0.00,3.08,0.00,0.000,516,0.000,0.050,3174,1171,1738,1738,4094,0,0,0,0,0,0,26.44,26.06,26.46,9.32,32.79
$GC,3146,1.66,554.4,3174,1171,1736,4094,74.0,11.3,511,3153,0.00,3.00,0.00,0.000,1030,0.000,0.037,3174,2349,1736,1736,4094,0,0,0,0,0,0,26.23,26.12,26.27,9.33,33.10
$GC,3184,1.66,554.4,3174,2349,1735,4094,69.8,11.5,517,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1735,1735,4094,0,0,0,0,0,0,26.50,26.51,26.51,9.32,32.87
$GC,3220,1.66,554.4,3174,2349,1734,4094,65.6,11.5,523,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1734,1734,4094,0,0,0,0,0,0,26.52,26.53,26.53,9.33,33.50
$GC,3256,1.66,554.4,3174,2349,1733,4094,61.4,11.5,529,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1733,1733,4094,0,0,0,0,0,0,26.53,26.55,26.55,9.32,32.91
$GC,3293,1.66,554.4,3173,2349,1732,4094,57.1,11.9,535,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1732,1732,4094,0,0,0,0,0,0,26.55,26.56,26.55,9.32,32.94
$GC,3329,1.66,554.4,3174,2349,1731,4094,53.0,11.2,541,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2349,1730,1730,4094,0,0,0,0,0,0,26.55,26.57,26.56,9.32,33.38
$GC,3365,1.66,554.4,3173,2349,1730,4094,48.9,10.8,547,3372,0.00,3.08,0.00,0.000,516,0.000,0.050,3174,1167,1730,1730,4094,0,0,0,0,0,0,26.58,26.17,26.59,9.32,33.06
$GC,3433,1.66,554.4,3174,1167,1728,4094,41.5,11.5,558,3440,0.00,3.00,0.00,0.000,1030,0.000,0.039,3174,2350,1727,1727,4094,0,0,0,0,0,0,26.34,26.22,26.37,9.32,33.14
$GC,3470,1.66,554.4,3173,2350,1727,4094,37.3,11.4,564,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2350,1727,1727,4094,0,0,0,0,0,0,26.60,26.62,26.61,9.32,33.02
$GC,3506,1.66,554.4,3174,2350,1726,4094,33.1,11.7,570,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2350,1726,1726,4094,0,0,0,0,0,0,26.62,26.63,26.63,9.32,33.14
$GC,3543,1.66,554.4,3173,2350,1725,4094,29.1,11.1,576,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2350,1725,1725,4094,0,0,0,0,0,0,26.63,26.65,26.64,9.32,33.69
$GC,3579,1.66,554.4,3173,2350,1724,4094,25.1,10.7,582,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2350,1724,1724,4094,0,0,0,0,0,0,26.64,26.65,26.65,9.32,33.22
$GC,3615,1.66,554.4,3174,2350,1723,4094,21.2,10.5,588,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2350,1722,1722,4094,0,0,0,0,0,0,26.65,26.66,26.65,9.32,33.06
$GC,3652,1.69,567.6,3173,2350,1722,4095,17.6,9.8,594,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2350,1722,1722,4094,0,0,0,0,0,0,26.66,26.67,26.67,9.32,33.02
$GC,3689,1.72,581.4,3174,2350,1721,4094,14.0,9.8,600,3696,0.10,3.05,0.00,0.000,2564,0.080,0.054,3191,1171,1721,1721,4095,0,0,0,0,0,0,26.45,26.27,26.46,9.32,33.22
$GC,3769,1.72,581.4,3191,1171,1719,4094,5.5,11.0,613,3776,0.00,2.97,0.00,0.000,1030,0.000,0.038,3191,2350,1719,1719,4094,0,0,0,0,0,0,26.43,26.32,26.46,9.31,32.94
$GC,3806,1.95,696.8,3191,2350,1718,4094,2.3,8.0,619,3815,0.68,0.00,4.75,0.411,10242,0.035,0.000,3265,2350,1650,1650,4094,0,0,0,0,0,0,26.44,28.83,26.46,9.31,33.10
$STATE,3816,end climb,SURFACE_DEPTH_REACHED
$STATE,3816,begin surface coast
$FINISH,-0.0,1.004261
$STATE,3840,end surface coast,CONTROL_FINISHED_OK
$STATE,3840,begin surface
$SM_CCo,3877,69.78,0.632,0,0,50,2015.13
$SM_GC,0.01,31.23,0.00,69.78,0.029,0.000,0.632,242,2350,50,-7.54,0.00,2015.13,0,0,0,0,0,0,26.31,26.67,24.85
$IRIDIUM_FIX,4748.51,-12337.82,140217,235800
$TT8_MAMPS,0.026215,0.399966
$HUMID,32.67
$INTERNAL_PRESSURE,8.93945
$TCM_TEMP,6.90
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,100.3,5.9
$24V_AH,23.25,2.829
$10V_AH,9.56,2.538
$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,65.650,42.625,66.625,69.775,0.000,128.278,109.179,219.237,10.000,0.000,21.679,1483.193,1239.785,442.035,1539.838,63.455,33.429,1117.640,0.000,900.251,0.000,5.573,0.000
$DEVICE_MAMPS,110.925,81.855,2046.375,631.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,710.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322200
$DATA_FILE_SIZE,48860,624
$CAP_FILE_SIZE,115998,0
$CFSIZE,1024409600,1017970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191
$GPS,150217,011829,4743.708,-12224.176,3,0.9,48,16.3,0.0,0.0,9,4.9