version: 66.12
glider: 401
mission: 3
dive: 1
start: 10 5 116 17 39 5
data:
$ID,401
$MISSION,3
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,70765
$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,250
$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,100840
$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,2513
$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,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3930
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2094
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0044
$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,20
$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,-52.100033
$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,2
$XPDR_VALID,6
$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
$GPS1,051016,173406,4740.2544,-12214.1680,5,0.9,9,16.2,0.0,79.4,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-26.6
$GPS2,051016,173814,4740.2456,-12214.1504,7,0.9,13,16.2,0.0,96.5,8,8.8
$SPEED_LIMITS,0.173,0.272
$TGT_NAME,LH
$TGT_LATLONG,4740.200,-12214.400
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.262096,-0.070929
$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,238.7,323,-18.0,-10.000,-20.22,2999
$D_GRID,45
$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,-2.25,-195.5,221,2288,57,234,0.0,0.0,0,34,0.00,0.00,-15.12,0.000,16390,0.000,0.000,221,2289,2326,2326,367,0,0,0,0,0,0,26.63,24.91,26.65
$GC,35,-2.25,-195.5,221,2289,2326,366,0.7,-3.1,3,60,18.55,2.20,0.00,0.000,2308,0.112,0.057,1782,3690,2327,2327,526,0,0,0,0,0,0,26.13,26.13,26.17
$GC,291,-2.25,-195.5,1781,3690,2333,786,29.7,-8.2,64,300,0.00,2.05,0.00,0.000,1030,0.000,0.028,1782,2260,2333,2333,4095,0,0,0,0,0,0,26.47,26.41,26.50
$GC,323,-2.25,-195.5,1782,2259,2333,799,32.0,-8.8,70,329,0.00,2.22,0.00,0.000,260,0.000,0.058,1782,3687,2334,2334,786,0,0,0,0,0,0,26.70,26.29,26.71
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,466,-0.38,0.0,1781,2294,2336,840,45.3,-9.3,103,491,6.70,0.00,12.12,0.939,10246,0.086,0.000,2379,2294,2093,2093,4069,0,0,0,0,0,0,26.32,25.94,25.07
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,493,2.25,195.5,2379,2293,2093,864,46.8,0.0,107,524,8.85,2.17,11.45,0.923,10756,0.057,0.057,3211,939,1864,1864,3772,0,0,0,0,0,0,26.15,25.76,24.89
$GC,598,2.27,201.0,3211,939,1863,772,39.5,9.8,130,606,0.00,2.03,2.15,0.097,9222,0.000,0.031,3211,2300,1857,1857,4095,0,0,0,0,0,0,26.19,26.11,25.10
$GC,628,2.27,201.0,3211,2299,1857,806,36.4,10.3,136,634,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2300,1856,1856,777,0,0,0,0,0,0,26.44,26.45,26.45
$GC,656,2.27,201.0,3210,2299,1856,769,33.5,10.1,142,663,0.00,2.12,0.00,0.000,516,0.000,0.055,3211,937,1856,1856,745,0,0,0,0,0,0,26.46,26.09,26.48
$GC,721,2.38,226.4,3210,937,1854,737,27.6,9.1,157,729,0.43,2.03,3.05,0.331,11270,0.057,0.031,3253,2306,1827,1827,4095,0,0,0,0,0,0,26.21,26.23,25.27
$GC,752,2.43,237.7,3253,2305,1827,807,24.7,9.6,163,760,0.10,2.17,2.40,0.171,10756,0.093,0.055,3267,941,1815,1815,4095,0,0,0,0,0,0,26.25,26.10,25.31
$GC,826,2.46,245.4,3267,940,1813,779,17.4,9.7,180,835,0.12,2.03,2.20,0.098,11270,0.083,0.031,3282,2310,1805,1805,4095,0,0,0,0,0,0,26.25,26.27,25.41
$GC,857,2.89,342.2,3281,2310,1806,809,15.0,6.7,186,871,1.35,2.20,6.45,0.544,10756,0.051,0.056,3416,935,1692,1692,4095,0,0,0,0,0,0,26.27,26.09,25.41
$GC,897,2.89,342.2,3415,935,1691,808,11.3,10.6,194,904,0.00,2.03,0.00,0.000,1030,0.000,0.031,3416,2303,1691,1691,775,0,0,0,0,0,0,26.32,26.24,26.34
$GC,926,2.89,342.2,3415,2304,1690,770,7.7,13.0,200,932,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2304,1690,1690,740,0,0,0,0,0,0,26.55,26.57,26.57
$GC,953,2.89,342.2,3415,2304,1690,739,4.3,11.9,206,960,0.00,2.12,0.00,0.000,516,0.000,0.055,3416,932,1690,1690,714,0,0,0,0,0,0,26.58,26.20,26.60
$STATE,973,end climb,SURFACE_DEPTH_REACHED
$STATE,973,begin surface coast
$FINISH,0.1,0.998749
$STATE,986,end surface coast,CONTROL_FINISHED_OK
$STATE,986,begin surface
$SM_CCo,1088,0.00,0.000,0,0,1688,348.59
$SM_GC,0.51,33.47,2.08,0.00,0.041,0.031,0.000,221,2300,1688,-7.15,-1.22,348.59,0,0,0,0,0,0,26.27,26.29,26.33
$IRIDIUM_FIX,4748.51,-12056.72,051016,173433
$TT8_MAMPS,0.023968,0.162533
$HUMID,43.50
$INTERNAL_PRESSURE,9.34962
$TCM_TEMP,21.20
$XPDR_PINGS,33
$24V_AH,24.89,0.168
$10V_AH,10.17,0.127
$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,69.575,29.475,39.825,0.000,0.000,0.000,0.000,0.000,10.000,0.000,14.227,533.327,119.900,159.521,327.359,11.949,29.322,357.421,0.000,315.737,0.000,12.827,0.000
$DEVICE_MAMPS,111.690,58.140,939.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336100
$DATA_FILE_SIZE,6831,213
$CAP_FILE_SIZE,47769,0
$CFSIZE,1024409600,1022820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051016,175753,4740.227,-12214.258,5,1.0,10,16.2,0.0,0.0,8,8.7