version: 66.12
glider: 401
mission: 3
dive: 3
start: 10 5 116 19 15 49
data:
$ID,401
$MISSION,3
$DIVE,3
$N_DIVES,5
$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,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10
$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,68
$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,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
$GPS1,051016,191028,4740.0723,-12214.2832,5,0.8,8,16.2,0.0,0.0,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-49.9
$GPS2,051016,191456,4740.0664,-12214.2842,7,0.8,15,16.2,0.0,0.0,9,6.4
$SPEED_LIMITS,0.173,0.272
$TGT_NAME,WF
$TGT_LATLONG,4739.600,-12215.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.242981,-0.121184
$KALMAN_X,81.063347,58.952160,58.163666,-363.649841,42.506687
$KALMAN_Y,-167.816772,-98.047173,-96.373360,32.065105,-61.499863
$MHEAD_RNG_PITCHd_Wd,227.3,1243,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-2.66,-195.5,222,2308,1797,205,0.0,0.0,0,24,0.00,0.00,-3.35,0.000,16390,0.000,0.000,222,2308,2324,2324,340,0,0,0,0,0,0,26.62,24.92,26.62
$GC,25,-2.66,-195.5,222,2308,2324,339,0.9,0.0,1,50,18.05,2.15,0.00,0.000,2308,0.119,0.053,1716,3695,2325,2325,511,0,0,0,0,0,0,26.06,26.12,26.15
$GC,176,-2.66,-195.5,1716,3695,2330,490,27.8,-15.5,36,183,0.00,2.00,0.00,0.000,1030,0.000,0.024,1716,2285,2330,2330,514,0,0,0,0,0,0,26.43,26.39,26.45
$GC,206,-2.66,-195.5,1716,2283,2331,793,32.4,-14.9,42,214,0.00,2.05,0.00,0.000,516,0.000,0.057,1717,939,2331,2331,4095,0,0,0,0,0,0,26.63,26.24,26.65
$GC,232,-2.66,-195.5,1716,939,2332,850,36.3,-15.9,47,239,0.00,2.05,0.00,0.000,1030,0.000,0.038,1717,2310,2332,2332,830,0,0,0,0,0,0,26.41,26.34,26.44
$GC,261,-2.66,-195.5,1716,2310,2333,802,41.0,-15.3,53,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,2310,2333,2333,787,0,0,0,0,0,0,26.64,26.66,26.66
$STATE,290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,290,begin apogee
$GC,293,-0.50,0.0,1716,2310,2333,829,45.5,-16.2,59,318,7.78,0.00,12.00,0.936,10246,0.087,0.000,2412,2311,2092,2092,4095,0,0,0,0,0,0,26.27,25.91,25.07
$STATE,318,end apogee,CONTROL_FINISHED_OK
$STATE,319,begin climb
$GC,320,2.66,195.5,2412,2310,2092,855,48.2,0.0,63,345,10.65,0.00,11.48,0.917,10758,0.056,0.000,3412,2311,1863,1863,4095,0,0,0,0,0,0,26.09,25.70,24.89
$GC,367,2.66,195.5,3412,2311,1864,798,44.0,13.9,72,373,0.00,2.12,0.00,0.000,516,0.000,0.049,3412,932,1863,1863,773,0,0,0,0,0,0,26.24,25.91,26.26
$GC,387,2.66,195.5,3411,932,1863,768,40.6,16.1,76,394,0.00,2.03,0.00,0.000,1030,0.000,0.027,3412,2303,1862,1862,745,0,0,0,0,0,0,26.10,26.03,26.12
$GC,415,2.66,195.5,3412,2303,1861,742,35.7,17.4,82,422,0.00,2.15,0.00,0.000,260,0.000,0.051,3412,3699,1861,1861,722,0,0,0,0,0,0,26.35,26.01,26.37
$GC,452,2.66,195.5,3412,3700,1860,719,28.6,19.7,90,459,0.00,2.03,0.00,0.000,1030,0.000,0.026,3412,2303,1859,1859,700,0,0,0,0,0,0,26.22,26.15,26.23
$GC,480,2.66,195.5,3411,2300,1859,699,23.3,18.2,96,487,0.00,2.10,0.00,0.000,516,0.000,0.052,3412,926,1858,1858,684,0,0,0,0,0,0,26.44,26.10,26.46
$GC,525,2.66,195.5,3412,926,1857,680,15.6,16.3,106,532,0.00,2.03,0.00,0.000,1030,0.000,0.028,3412,2304,1857,1857,667,0,0,0,0,0,0,26.29,26.21,26.31
$GC,553,2.66,195.5,3412,2304,1856,665,11.7,13.4,112,560,0.00,2.12,0.00,0.000,260,0.000,0.050,3412,3693,1856,1856,654,0,0,0,0,0,0,26.52,26.17,26.53
$GC,603,2.66,195.5,3412,3693,1854,651,4.5,15.1,123,610,0.00,2.03,0.00,0.000,1030,0.000,0.026,3412,2287,1854,1854,641,0,0,0,0,0,0,26.36,26.31,26.39
$STATE,618,end climb,SURFACE_DEPTH_REACHED
$STATE,618,begin surface coast
$FINISH,0.1,0.998733
$STATE,632,end surface coast,CONTROL_FINISHED_OK
$STATE,632,begin surface
$SM_CCo,672,4.05,0.327,0,0,1798,250.71
$SM_GC,2.18,33.60,0.00,4.05,0.043,0.000,0.327,221,2284,1798,-7.36,-0.45,250.71,0,0,0,0,0,0,26.27,26.60,25.58
$IRIDIUM_FIX,4748.51,-12056.72,051016,190731
$TT8_MAMPS,0.023968,0.271138
$HUMID,40.62
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,21.80
$XPDR_PINGS,20
$24V_AH,24.89,0.275
$10V_AH,10.26,0.176
$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,70.075,24.850,23.475,4.050,0.000,0.000,0.000,0.000,6.500,0.000,16.475,352.244,31.068,142.761,208.145,10.436,31.521,284.266,0.000,197.744,0.000,10.011,0.000
$DEVICE_MAMPS,118.575,57.375,935.595,326.655,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,88.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,3546,129
$CAP_FILE_SIZE,64915,0
$CFSIZE,1024409600,1022705664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051016,192744,4740.013,-12214.382,5,0.8,7,16.2,0.0,0.0,10,9.9