version: 66.12
glider: 401
mission: 3
dive: 4
start: 10 5 116 19 33 41
data:
$ID,401
$MISSION,3
$DIVE,4
$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,67
$R_STBD_OVSHOOT,42
$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
$GPS1,051016,192744,4740.0132,-12214.3818,5,0.8,7,16.2,0.0,0.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-49.5
$GPS2,051016,193248,4740.0015,-12214.3799,7,0.8,10,16.2,0.0,17.8,10,8.8
$SPEED_LIMITS,0.173,0.272
$TGT_NAME,WF
$TGT_LATLONG,4739.600,-12215.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.230726,-0.143146
$KALMAN_X,112.544556,88.971664,83.947464,-572.747925,24.566467
$KALMAN_Y,-181.242813,-104.095299,-99.404434,-68.653793,-47.170815
$MHEAD_RNG_PITCHd_Wd,222.0,1073,-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,14,begin dive
$GC,15,-2.66,-195.5,221,2283,1798,712,0.0,0.0,0,23,0.00,0.00,-3.33,0.000,16390,0.000,0.000,221,2283,2328,2328,752,0,0,0,0,0,0,26.45,25.02,26.45
$GC,24,-2.66,-195.5,221,2283,2329,751,0.9,0.0,1,49,18.27,2.22,0.00,0.000,2308,0.122,0.054,1716,3696,2329,2329,740,0,0,0,0,0,0,25.94,26.00,26.02
$GC,194,-2.66,-195.5,1715,3696,2335,823,31.6,-15.2,40,201,0.00,2.03,0.00,0.000,1030,0.000,0.023,1716,2279,2336,2336,806,0,0,0,0,0,0,26.36,26.31,26.38
$GC,224,-2.66,-195.5,1715,2277,2337,853,36.2,-16.4,46,230,0.00,2.08,0.00,0.000,516,0.000,0.062,1716,935,2337,2337,832,0,0,0,0,0,0,26.51,26.17,26.53
$GC,257,-2.66,-195.5,1716,935,2338,803,41.6,-17.2,53,264,0.00,2.05,0.00,0.000,1030,0.000,0.041,1716,2298,2338,2338,4095,0,0,0,0,0,0,26.36,26.28,26.39
$STATE,279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,279,begin apogee
$GC,282,-0.50,0.0,1716,2298,2338,836,45.2,-17.0,57,307,7.85,0.00,12.23,0.940,10246,0.092,0.000,2411,2298,2092,2092,4095,0,0,0,0,0,0,26.20,25.84,25.02
$STATE,308,end apogee,CONTROL_FINISHED_OK
$STATE,308,begin climb
$GC,309,2.66,195.5,2411,2297,2093,860,48.0,0.0,61,340,10.75,2.12,11.50,0.919,10756,0.058,0.051,3410,935,1864,1864,3932,0,0,0,0,0,0,26.01,25.68,24.84
$GC,357,2.66,195.5,3410,935,1863,808,43.6,13.7,70,364,0.00,2.05,0.00,0.000,1030,0.000,0.027,3410,2314,1863,1863,781,0,0,0,0,0,0,26.00,25.93,26.02
$GC,386,2.66,195.5,3409,2315,1862,773,39.0,16.5,76,393,0.00,2.15,0.00,0.000,260,0.000,0.052,3410,3703,1862,1862,748,0,0,0,0,0,0,26.27,25.94,26.28
$GC,427,2.66,195.5,3410,3703,1861,743,31.3,19.5,85,434,0.00,2.03,0.00,0.000,1030,0.000,0.026,3410,2310,1860,1860,722,0,0,0,0,0,0,26.15,26.10,26.17
$GC,455,2.66,195.5,3410,2307,1859,719,25.9,18.1,91,462,0.00,2.12,0.00,0.000,516,0.000,0.051,3410,919,1859,1859,702,0,0,0,0,0,0,26.39,26.04,26.40
$GC,509,2.66,195.5,3410,919,1857,697,16.7,17.1,103,516,0.00,2.05,0.00,0.000,1030,0.000,0.028,3410,2311,1857,1857,682,0,0,0,0,0,0,26.25,26.18,26.27
$GC,537,2.66,195.5,3410,2311,1856,680,12.5,13.3,109,544,0.00,2.12,0.00,0.000,260,0.000,0.051,3410,3698,1856,1856,667,0,0,0,0,0,0,26.48,26.15,26.51
$GC,591,2.66,195.5,3410,3698,1854,805,5.0,14.7,121,598,0.00,2.03,0.00,0.000,1030,0.000,0.025,3410,2292,1854,1854,775,0,0,0,0,0,0,26.34,26.29,26.36
$STATE,611,end climb,SURFACE_DEPTH_REACHED
$STATE,611,begin surface coast
$FINISH,0.1,0.998731
$STATE,624,end surface coast,CONTROL_FINISHED_OK
$STATE,624,begin surface
$SM_CCo,664,4.05,0.328,0,0,1798,250.71
$SM_GC,2.10,33.72,0.00,4.05,0.044,0.000,0.328,220,2288,1798,-7.36,-0.34,250.71,0,0,0,0,0,0,26.24,26.58,25.57
$IRIDIUM_FIX,4748.51,-12056.72,051016,192827
$TT8_MAMPS,0.023968,0.263648
$HUMID,41.53
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,21.50
$XPDR_PINGS,6
$24V_AH,24.84,0.297
$10V_AH,10.35,0.187
$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,70.600,25.050,23.725,4.050,0.000,28.705,17.830,187.816,3.250,0.000,10.990,352.424,31.279,138.835,454.504,15.340,32.445,279.947,0.000,197.831,0.000,12.838,0.000
$DEVICE_MAMPS,121.635,61.965,940.185,328.185,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,88.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336056
$DATA_FILE_SIZE,3543,128
$CAP_FILE_SIZE,30449,0
$CFSIZE,1024409600,1022689280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051016,194530,4739.950,-12214.468,5,0.9,8,16.2,0.0,0.0,9,9.4