version: 66.12
glider: 401
mission: 3
dive: 6
start: 10 5 116 20 11 42
data:
$ID,401
$MISSION,3
$DIVE,6
$N_DIVES,7
$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,70
$R_STBD_OVSHOOT,44
$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
$GPS1,051016,200246,4739.8872,-12214.5527,5,0.9,9,16.2,0.0,0.0,9,9.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-48.9
$GPS2,051016,201048,4739.8721,-12214.5557,7,0.8,10,16.2,0.0,0.0,10,10.0
$SPEED_LIMITS,0.173,0.272
$TGT_NAME,WF
$TGT_LATLONG,4739.600,-12215.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.227687,-0.147933
$KALMAN_X,244.066406,113.312172,95.128448,-958.854736,67.333992
$KALMAN_Y,-136.665710,-117.781067,-106.586517,-331.370239,7.947380
$MHEAD_RNG_PITCHd_Wd,220.8,749,-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,-195.5,220,2291,1798,272,0.0,0.0,0,23,0.00,0.00,-3.35,0.000,16390,0.000,0.000,220,2291,2330,2330,378,0,0,0,0,0,0,26.46,25.06,26.46
$GC,24,-2.66,-195.5,220,2291,2330,377,0.9,0.0,1,49,18.25,2.20,0.00,0.000,2308,0.121,0.054,1718,3689,2332,2332,534,0,0,0,0,0,0,25.95,26.01,26.03
$GC,163,-2.66,-195.5,1717,3689,2337,518,26.7,-16.5,33,170,0.00,2.00,0.00,0.000,1030,0.000,0.022,1717,2281,2337,2337,539,0,0,0,0,0,0,26.34,26.30,26.36
$GC,194,-2.66,-195.5,1717,2278,2338,823,31.5,-15.9,39,201,0.00,2.08,0.00,0.000,516,0.000,0.062,1718,939,2338,2338,806,0,0,0,0,0,0,26.54,26.17,26.55
$GC,219,-2.66,-195.5,1717,939,2338,803,35.7,-16.3,44,227,0.00,2.05,0.00,0.000,1030,0.000,0.039,1717,2302,2339,2339,786,0,0,0,0,0,0,26.35,26.27,26.38
$GC,249,-2.66,-195.5,1717,2302,2340,816,40.5,-17.0,50,256,0.00,2.15,0.00,0.000,260,0.000,0.057,1717,3695,2340,2340,800,0,0,0,0,0,0,26.58,26.23,26.59
$GC,262,-2.66,-195.5,1717,3696,2340,856,42.6,-16.3,52,269,0.00,2.00,0.00,0.000,1030,0.000,0.022,1718,2284,2340,2340,833,0,0,0,0,0,0,26.40,26.36,26.42
$STATE,280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,280,begin apogee
$GC,283,-0.50,0.0,1717,2281,2340,836,45.6,-17.0,55,308,7.82,0.00,12.32,0.945,10246,0.090,0.000,2410,2280,2092,2092,4095,0,0,0,0,0,0,26.20,25.86,25.02
$STATE,309,end apogee,CONTROL_FINISHED_OK
$STATE,309,begin climb
$GC,310,2.66,195.5,2410,2280,2092,861,48.4,0.0,59,341,10.77,2.22,11.52,0.923,10500,0.058,0.050,3411,3705,1864,1864,3930,0,0,0,0,0,0,26.03,25.69,24.85
$GC,375,2.66,195.5,3411,3704,1863,797,40.9,17.6,72,382,0.00,2.03,0.00,0.000,1030,0.000,0.024,3411,2317,1862,1862,770,0,0,0,0,0,0,26.06,26.00,26.08
$GC,403,2.66,195.5,3411,2315,1861,763,35.8,17.5,78,410,0.00,2.12,0.00,0.000,516,0.000,0.050,3411,927,1861,1861,740,0,0,0,0,0,0,26.29,25.96,26.32
$GC,452,2.66,195.5,3411,928,1860,734,27.1,17.9,89,459,0.00,2.05,0.00,0.000,1030,0.000,0.027,3411,2312,1859,1859,713,0,0,0,0,0,0,26.18,26.11,26.20
$GC,481,2.66,195.5,3410,2312,1858,711,22.0,17.7,95,488,0.00,2.12,0.00,0.000,260,0.000,0.051,3411,3694,1858,1858,694,0,0,0,0,0,0,26.42,26.09,26.44
$GC,513,2.66,195.5,3410,3694,1857,692,16.0,18.2,102,520,0.00,2.03,0.00,0.000,1030,0.000,0.024,3411,2291,1857,1857,677,0,0,0,0,0,0,26.27,26.21,26.29
$GC,542,2.66,195.5,3411,2288,1856,675,12.0,13.5,108,548,0.00,2.08,0.00,0.000,516,0.000,0.050,3411,923,1856,1856,663,0,0,0,0,0,0,26.49,26.15,26.51
$GC,582,2.66,195.5,3411,923,1855,789,6.4,13.7,117,589,0.00,2.03,0.00,0.000,1030,0.000,0.027,3411,2307,1854,1854,761,0,0,0,0,0,0,26.32,26.25,26.35
$GC,611,2.66,195.5,3411,2307,1854,754,2.5,13.4,123,618,0.00,2.12,0.00,0.000,260,0.000,0.051,3411,3696,1853,1853,731,0,0,0,0,0,0,26.55,26.21,26.57
$STATE,622,end climb,SURFACE_DEPTH_REACHED
$STATE,623,begin surface coast
$FINISH,-0.2,0.998726
$STATE,636,end surface coast,CONTROL_FINISHED_OK
$STATE,636,begin surface
$SM_CCo,678,4.05,0.329,0,0,1798,250.71
$SM_GC,2.05,33.67,2.05,4.05,0.043,0.021,0.329,221,2250,1798,-7.36,2.06,250.71,0,0,0,0,0,0,26.25,26.38,25.58
$IRIDIUM_FIX,4748.51,-12056.72,051016,200734
$TT8_MAMPS,0.023968,0.134071
$HUMID,41.73
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,21.40
$XPDR_PINGS,7
$24V_AH,24.85,0.345
$10V_AH,10.28,0.212
$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,70.525,33.325,23.850,4.050,0.000,56.579,38.033,254.121,3.250,0.000,10.988,354.194,91.125,151.694,573.045,17.441,33.463,299.970,0.000,197.887,0.000,10.012,0.000
$DEVICE_MAMPS,120.870,61.965,944.775,328.950,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,87.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336012
$DATA_FILE_SIZE,3515,128
$CAP_FILE_SIZE,36085,0
$CFSIZE,1024409600,1022574592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051016,202350,4739.808,-12214.644,4,0.8,9,16.2,0.0,0.0,10,8.7