version: 66.12
glider: 401
mission: 7
dive: 1
start: 11 4 116 17 1 26
data:
$ID,401
$MISSION,7
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,50
$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,25
$T_MISSION,40
$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,200
$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,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,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,2268
$C_ROLL_CLIMB,2283
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,54
$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,0.0018
$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,3000
$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,-50.846699
$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
$GPS1,041116,165429,4740.2671,-12214.3447,5,0.8,50,16.2,0.0,0.0,10,3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-29.6
$GPS2,041116,170015,4740.2720,-12214.3467,6,0.8,6,16.2,0.0,0.0,11,0.0
$SPEED_LIMITS,0.378,0.388
$TGT_NAME,HEADING
$TGT_LATLONG,4731.426,-12223.520
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.222174,-0.318197
$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,-5.6,-6.667,-9.75,14338
$D_GRID,50
$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
$STATE,13,begin dive
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$GC,1029,-0.70,-200.4,2145,2222,2220,631,46.3,-4.1,211,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2222,2220,2220,632,0,0,0,0,0,0,26.74,26.76,26.75
$GC,1048,-0.70,-200.4,2145,2222,2220,631,47.1,-4.1,215,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2222,2220,2220,632,0,0,0,0,0,0,26.74,26.76,26.76
$GC,1067,-0.70,-200.4,2145,2223,2220,632,47.9,-4.1,219,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2222,2220,2220,632,0,0,0,0,0,0,26.74,26.76,26.76
$GC,1086,-0.70,-200.4,2145,2223,2221,631,48.8,-4.2,223,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2222,2220,2220,632,0,0,0,0,0,0,26.73,26.75,26.75
$GC,1105,-0.70,-200.4,2145,2223,2220,631,49.5,-3.9,227,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2222,2220,2220,633,0,0,0,0,0,0,26.75,26.77,26.77
$STATE,1115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1116,begin apogee
$GC,1118,-0.30,0.0,2145,2222,2220,633,50.1,-4.6,229,1137,1.40,0.00,13.10,1.002,10246,0.069,0.000,2277,2223,1968,1968,4095,0,0,0,0,0,0,26.22,25.78,24.68
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1138,begin climb
$GC,1139,0.70,200.4,2277,2223,1968,884,50.6,0.0,232,1158,3.28,0.00,12.30,0.978,10246,0.064,0.000,2582,2223,1734,1734,4095,0,0,0,0,0,0,26.07,25.51,24.47
$GC,1171,0.84,280.6,2582,2223,1735,842,50.0,4.0,238,1184,0.43,0.00,6.25,0.790,10246,0.052,0.000,2627,2223,1641,1641,4095,0,0,0,0,0,0,25.91,25.14,24.41
$GC,1197,0.96,343.7,2627,2223,1640,841,48.9,4.6,243,1210,0.38,0.00,5.25,0.718,10246,0.054,0.000,2666,2223,1567,1567,4095,0,0,0,0,0,0,25.85,25.10,24.39
$GC,1223,1.02,379.8,2666,2222,1567,841,47.6,5.5,248,1231,0.15,0.00,3.83,0.550,10246,0.071,0.000,2686,2223,1525,1525,4095,0,0,0,0,0,0,25.84,25.44,24.42
$GC,1244,1.07,405.0,2685,2222,1525,839,46.4,5.8,252,1252,0.12,0.00,3.25,0.441,10246,0.078,0.000,2701,2223,1496,1496,4095,0,0,0,0,0,0,25.85,25.46,24.43
$GC,1265,1.10,421.0,2700,2222,1496,839,45.1,6.1,256,1272,0.00,0.00,2.80,0.333,8198,0.000,0.000,2701,2223,1477,1477,4095,0,0,0,0,0,0,26.08,25.47,24.44
$GC,1285,1.12,434.7,2700,2222,1477,841,43.9,6.2,260,1292,0.12,0.00,2.65,0.287,10246,0.078,0.000,2717,2223,1461,1461,4095,0,0,0,0,0,0,25.87,25.49,24.46
$GC,1306,1.12,437.0,2717,2222,1461,839,42.5,6.6,264,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1461,1461,796,0,0,0,0,0,0,26.15,26.17,26.17
$GC,1324,1.12,437.0,2717,2222,1461,796,41.2,7.1,268,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1460,1460,756,0,0,0,0,0,0,26.14,26.16,26.16
$GC,1343,1.12,437.0,2717,2222,1459,757,39.9,7.3,272,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1460,1460,722,0,0,0,0,0,0,26.21,26.23,26.22
$GC,1361,1.12,437.0,2717,2223,1459,723,38.6,7.1,276,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2223,1459,1459,692,0,0,0,0,0,0,26.23,26.25,26.25
$GC,1380,1.12,437.0,2717,2222,1459,693,37.3,7.2,280,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1459,1459,665,0,0,0,0,0,0,26.26,26.27,26.27
$GC,1398,1.12,437.0,2717,2222,1459,666,36.0,7.0,284,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2223,1459,1459,642,0,0,0,0,0,0,26.27,26.29,26.29
$GC,1417,1.12,437.0,2717,2223,1459,643,34.7,7.2,288,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2223,1458,1458,620,0,0,0,0,0,0,26.26,26.27,26.27
$GC,1436,1.12,437.0,2717,2222,1458,621,33.4,7.0,292,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1458,1458,602,0,0,0,0,0,0,26.27,26.29,26.29
$GC,1454,1.12,437.0,2716,2223,1458,602,32.1,7.3,296,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1458,1458,585,0,0,0,0,0,0,26.33,26.34,26.34
$GC,1473,1.12,437.0,2717,2222,1457,586,30.8,6.8,300,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1457,1457,570,0,0,0,0,0,0,26.32,26.34,26.34
$GC,1491,1.12,437.0,2717,2223,1457,571,29.6,7.1,304,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1457,1457,557,0,0,0,0,0,0,26.36,26.37,26.37
$GC,1510,1.13,442.7,2716,2222,1457,558,28.4,6.5,308,1516,0.00,0.00,0.12,0.003,8198,0.000,0.000,2717,2222,1457,1457,547,0,0,0,0,0,0,26.37,26.39,26.39
$GC,1530,1.14,447.3,2717,2222,1457,548,27.1,6.5,312,1536,0.00,0.00,2.35,0.159,8198,0.000,0.000,2717,2223,1447,1447,4095,0,0,0,0,0,0,26.23,25.74,24.83
$GC,1549,1.14,447.3,2717,2223,1447,843,25.8,6.9,316,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2223,1447,1447,798,0,0,0,0,0,0,26.32,26.33,26.33
$GC,1568,1.14,447.3,2717,2222,1446,796,24.5,6.7,320,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2223,1446,1446,755,0,0,0,0,0,0,26.39,26.41,26.41
$GC,1586,1.14,447.3,2717,2222,1446,755,23.3,6.7,324,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1446,1446,719,0,0,0,0,0,0,26.42,26.44,26.44
$GC,1605,1.14,447.3,2717,2222,1446,719,22.1,6.8,328,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2222,1446,1446,687,0,0,0,0,0,0,26.43,26.45,26.45
$GC,1624,1.15,451.9,2717,2222,1445,688,20.9,6.5,332,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2222,1445,1445,660,0,0,0,0,0,0,26.44,26.46,26.46
$GC,1643,1.18,467.0,2717,2222,1445,660,19.7,6.2,336,1650,0.15,0.00,2.85,0.272,10246,0.071,0.000,2736,2223,1423,1423,4095,0,0,0,0,0,0,26.15,25.81,24.94
$GC,1663,1.18,469.4,2735,2222,1423,840,18.4,6.6,340,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2223,1423,1423,794,0,0,0,0,0,0,26.44,26.46,26.46
$GC,1682,1.18,469.8,2735,2222,1423,793,17.1,6.7,344,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2222,1423,1423,751,0,0,0,0,0,0,26.46,26.47,26.47
$GC,1701,1.18,469.8,2735,2222,1423,752,15.8,6.8,348,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2223,1423,1423,715,0,0,0,0,0,0,26.46,26.48,26.48
$GC,1719,1.18,469.8,2735,2223,1422,716,14.6,6.9,352,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2222,1422,1422,684,0,0,0,0,0,0,26.48,26.50,26.49
$GC,1738,1.18,469.8,2735,2222,1422,685,13.3,7.2,356,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2222,1422,1422,657,0,0,0,0,0,0,26.49,26.51,26.51
$GC,1756,1.18,469.8,2735,2222,1421,657,12.0,7.1,360,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2223,1421,1421,632,0,0,0,0,0,0,26.50,26.52,26.51
$GC,1775,1.18,469.8,2735,2222,1421,633,10.7,6.8,364,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2222,1421,1421,611,0,0,0,0,0,0,26.51,26.53,26.52
$GC,1794,1.18,469.8,2735,2223,1421,612,9.5,7.1,368,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2222,1421,1421,592,0,0,0,0,0,0,26.51,26.53,26.53
$GC,1812,1.21,486.0,2735,2222,1420,593,8.4,6.1,372,1819,0.00,0.00,2.72,0.213,8198,0.000,0.000,2735,2223,1401,1401,4095,0,0,0,0,0,0,26.53,25.89,25.12
$GC,1832,1.27,517.8,2735,2222,1401,840,7.2,5.6,376,1840,0.28,0.00,3.47,0.320,10246,0.059,0.000,2766,2223,1363,1363,4095,0,0,0,0,0,0,26.19,25.89,25.15
$GC,1853,1.27,517.8,2765,2222,1363,839,5.8,7.1,380,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2223,1363,1363,793,0,0,0,0,0,0,26.47,26.50,26.49
$GC,1871,1.27,517.8,2766,2223,1362,792,4.2,8.4,384,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2222,1362,1362,749,0,0,0,0,0,0,26.51,26.53,26.53
$GC,1890,1.27,517.8,2765,2223,1362,750,2.7,8.5,388,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2223,1362,1362,712,0,0,0,0,0,0,26.52,26.54,26.53
$STATE,1900,end climb,SURFACE_DEPTH_REACHED
$STATE,1900,begin surface coast
$FINISH,-0.1,0.999390
$STATE,1950,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,2043,0.00,0.000,0,0,1360,523.75
$SM_GC,0.84,27.33,0.00,0.00,0.045,0.000,0.000,210,2222,1360,-6.78,-1.30,523.75,0,0,0,0,0,0,26.11,26.55,26.21
$IRIDIUM_FIX,4748.51,-12056.72,041116,165703
$TT8_MAMPS,0.023968,0.161784
$HUMID,47.36
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,19.70
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,36.0,6.6
$24V_AH,24.37,0.929
$10V_AH,10.09,1.155
$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,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336484
$DATA_FILE_SIZE,13474,404
$CAP_FILE_SIZE,117445,0
$CFSIZE,1024409600,1021165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,041116,173640,4740.464,-12214.378,4,0.9,49,16.2,0.0,174.2,10,3.4