version: 66.12
glider: 401
mission: 8
dive: 9
start: 11 8 116 21 30 23
data:
$ID,401
$MISSION,8
$DIVE,9
$N_DIVES,0
$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,30
$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,40
$SPEED_FACTOR,1
$RHO,0.99800003
$MASS,71259
$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,-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,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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3775
$C_PITCH,2348
$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,2228
$C_ROLL_CLIMB,2283
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,39
$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,0.0022
$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,-50.729923
$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
$GPS1,081116,212415,4739.8994,-12214.0010,4,0.9,49,16.2,0.0,0.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-55.4
$GPS2,081116,212926,4739.8984,-12214.0000,7,0.9,19,16.2,0.0,0.0,9,3.0
$SPEED_LIMITS,0.066,0.224
$TGT_NAME,LH
$TGT_LATLONG,4739.900,-12214.200
$TGT_RADIUS,10.000
$KALMAN_CONTROL,-0.200521,0.074270
$KALMAN_X,1480.316650,919.656921,434.437653,-2382.046631,114.096771
$KALMAN_Y,578.674011,845.458862,700.572937,-2660.052979,-132.014465
$MHEAD_RNG_PITCHd_Wd,274.1,250,-10.9,-5.556,-14.56,4863
$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
$GC,14,-1.05,-180.6,219,2281,1701,277,0.0,0.0,0,22,0.00,0.00,-3.05,0.000,16390,0.000,0.000,220,2281,2186,2186,373,0,0,0,0,0,0,26.58,25.10,26.58
$GC,23,-1.05,-180.6,219,2281,2186,372,1.4,0.0,1,54,22.20,2.17,0.00,0.000,2820,0.132,0.065,2000,3624,2188,2188,540,0,0,0,0,0,0,26.06,26.10,26.21
$GC,292,-1.05,-180.6,2000,3624,2193,511,29.0,-7.9,71,298,0.00,2.05,0.00,0.000,1030,0.000,0.027,2001,2222,2193,2193,529,0,0,0,0,0,0,26.48,26.42,26.51
$GC,376,-1.05,-180.6,2000,2219,2194,519,35.6,-7.9,92,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2219,2195,2195,534,0,0,0,0,0,0,26.72,26.74,26.74
$GC,458,-1.05,-180.6,2000,2219,2196,525,41.8,-8.1,113,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2219,2196,2196,539,0,0,0,0,0,0,26.76,26.78,26.78
$GC,539,-1.05,-180.6,2000,2219,2198,528,48.4,-7.8,134,546,0.00,2.22,0.00,0.000,260,0.000,0.065,2001,3626,2197,2197,545,0,0,0,0,0,0,26.79,26.41,26.81
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,564,-0.30,0.0,2000,2266,2198,550,50.1,-8.3,138,582,2.60,0.00,11.80,0.965,10246,0.080,0.000,2242,2264,1968,1968,4095,0,0,0,0,0,0,26.42,26.08,25.22
$STATE,583,end apogee,CONTROL_FINISHED_OK
$STATE,583,begin climb
$GC,585,1.05,180.6,2241,2263,1968,876,51.4,0.0,141,609,4.53,2.15,11.00,0.956,10756,0.063,0.056,2663,906,1757,1757,3901,0,0,0,0,0,0,26.22,25.91,25.03
$GC,674,1.06,181.7,2662,905,1757,792,47.3,5.5,162,680,0.00,2.08,0.00,0.000,1030,0.000,0.034,2663,2287,1757,1757,760,0,0,0,0,0,0,26.24,26.15,26.26
$GC,756,1.08,192.6,2663,2287,1756,748,43.0,5.2,183,762,0.00,0.00,2.45,0.217,8198,0.000,0.000,2663,2288,1743,1743,4095,0,0,0,0,0,0,26.54,26.06,25.22
$GC,837,1.11,208.0,2663,2287,1742,787,38.8,5.0,204,845,0.15,0.00,2.70,0.287,10246,0.076,0.000,2682,2288,1725,1725,4095,0,0,0,0,0,0,26.32,26.11,25.29
$GC,920,1.11,208.0,2682,2287,1724,787,34.1,5.6,225,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2287,1724,1724,755,0,0,0,0,0,0,26.64,26.66,26.65
$GC,1000,1.11,208.0,2682,2287,1723,744,29.4,6.1,246,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2287,1722,1722,716,0,0,0,0,0,0,26.69,26.70,26.70
$GC,1080,1.11,208.0,2682,2287,1721,709,24.5,5.8,267,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2287,1721,1721,686,0,0,0,0,0,0,26.73,26.74,26.74
$GC,1161,1.14,221.1,2682,2287,1721,680,20.1,5.1,288,1168,0.00,0.00,2.38,0.156,8198,0.000,0.000,2682,2288,1710,1710,4095,0,0,0,0,0,0,26.77,26.27,25.53
$GC,1243,1.17,234.2,2682,2287,1709,789,15.9,5.1,309,1250,0.10,0.00,2.47,0.174,10246,0.091,0.000,2697,2288,1694,1694,4095,0,0,0,0,0,0,26.52,26.30,25.59
$GC,1325,1.17,234.2,2696,2287,1693,789,11.2,5.9,330,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2287,1693,1693,754,0,0,0,0,0,0,26.80,26.82,26.82
$GC,1405,1.17,234.2,2696,2287,1692,746,6.5,6.0,351,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2287,1692,1692,717,0,0,0,0,0,0,26.83,26.84,26.84
$STATE,1481,end climb,SURFACE_DEPTH_REACHED
$STATE,1481,begin surface coast
$FINISH,0.1,0.999135
$STATE,1527,end surface coast,CONTROL_FINISHED_OK
$STATE,1527,begin surface
$SM_CCo,1618,0.00,0.000,0,0,1690,240.41
$SM_GC,1.47,26.25,0.00,0.00,0.046,0.000,0.000,210,2287,1690,-6.68,1.67,240.41,0,0,0,0,0,0,26.48,26.88,26.57
$IRIDIUM_FIX,4748.51,-12056.72,081116,212457
$TT8_MAMPS,0.023968,0.161035
$HUMID,50.11
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,20.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,30.0,6.0
$24V_AH,25.03,1.254
$10V_AH,10.16,1.349
$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,55.825,12.700,32.800,0.000,0.000,26.674,18.374,191.076,3.500,0.000,20.797,904.763,59.614,136.463,826.821,21.827,33.426,439.727,0.000,557.383,0.000,5.448,0.000
$DEVICE_MAMPS,132.345,65.025,965.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336244
$DATA_FILE_SIZE,13476,383
$CAP_FILE_SIZE,45667,0
$CFSIZE,1024409600,1020854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081116,215811,4739.867,-12214.227,4,0.8,18,16.2,0.0,0.0,10,3.0