version: 66.12
glider: 401
mission: 3
dive: 8
start: 10 5 116 20 45 4
data:
$ID,401
$MISSION,3
$DIVE,8
$N_DIVES,8
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,64
$R_STBD_OVSHOOT,37
$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
$GPS1,051016,203931,4739.7339,-12214.7402,15,0.8,15,16.2,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-42.4
$GPS2,051016,204351,4739.7231,-12214.7412,7,0.8,12,16.2,0.0,336.7,10,9.2
$SPEED_LIMITS,0.373,0.405
$TGT_NAME,WF
$TGT_LATLONG,4739.600,-12215.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.349394,-0.205115
$KALMAN_X,410.631287,169.128891,129.596680,-1448.858643,88.467606
$KALMAN_Y,-87.618416,-116.150055,-93.139465,-672.143860,24.508461
$MHEAD_RNG_PITCHd_Wd,223.4,395,-11.1,-10.000,-13.86,7495
$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,-3.26,-488.7,220,2318,1512,268,0.0,0.0,0,28,0.00,0.00,-7.38,0.000,16390,0.000,0.000,220,2318,2667,2667,444,0,0,0,0,0,0,26.50,25.72,26.51
$GC,30,-3.26,-488.7,219,2318,2668,443,1.0,-4.7,2,54,15.88,2.20,0.00,0.000,2308,0.119,0.059,1526,3691,2669,2669,601,0,0,0,0,0,0,25.97,26.04,26.12
$GC,125,-3.26,-488.7,1526,3691,2674,808,32.5,-27.1,23,137,0.00,2.00,0.00,0.000,1030,0.000,0.022,1526,2288,2674,2674,4095,0,0,0,0,0,0,26.32,26.27,26.33
$GC,161,-3.26,-488.7,1526,2285,2676,855,42.2,-28.1,29,168,0.00,2.08,0.00,0.000,516,0.000,0.055,1526,928,2676,2676,845,0,0,0,0,0,0,26.47,26.20,26.48
$STATE,174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,174,begin apogee
$GC,180,-0.50,0.0,1526,2296,2677,831,45.9,-28.6,31,221,10.02,0.00,27.10,1.063,10246,0.090,0.000,2410,2297,2092,2092,3332,0,0,0,0,0,0,26.15,25.48,24.66
$STATE,222,end apogee,CONTROL_FINISHED_OK
$STATE,222,begin climb
$GC,224,3.26,488.7,2410,2297,2092,860,52.3,0.0,38,271,12.93,2.17,26.70,1.039,10756,0.054,0.046,3600,934,1522,1522,3070,0,0,0,0,0,0,25.70,24.96,24.39
$GC,293,3.26,488.7,3600,933,1521,804,41.7,24.9,51,300,0.00,2.10,0.00,0.000,1030,0.000,0.028,3601,2315,1521,1521,766,0,0,0,0,0,0,25.64,25.56,25.66
$GC,322,3.26,488.7,3600,2315,1519,763,34.0,27.6,57,329,0.00,2.17,0.00,0.000,260,0.000,0.054,3601,3696,1519,1519,730,0,0,0,0,0,0,25.97,25.65,25.98
$GC,366,3.26,488.7,3600,3695,1516,727,20.4,30.7,67,373,0.00,2.03,0.00,0.000,1030,0.000,0.024,3601,2314,1515,1515,697,0,0,0,0,0,0,25.95,25.89,25.97
$GC,395,3.26,488.7,3600,2310,1514,696,12.7,25.7,73,402,0.00,2.12,0.00,0.000,516,0.000,0.045,3601,915,1513,1513,670,0,0,0,0,0,0,26.20,25.89,26.22
$GC,415,3.26,488.7,3600,915,1512,670,7.7,25.5,77,422,0.00,2.08,0.00,0.000,1030,0.000,0.028,3601,2304,1512,1512,647,0,0,0,0,0,0,26.06,25.98,26.08
$STATE,439,end climb,SURFACE_DEPTH_REACHED
$STATE,439,begin surface coast
$FINISH,-0.0,0.998679
$STATE,448,end surface coast,CONTROL_FINISHED_OK
$STATE,448,begin surface
$SM_CCo,550,0.00,0.000,0,0,1510,501.42
$SM_GC,0.65,35.92,0.00,0.00,0.041,0.000,0.000,220,2305,1510,-7.36,0.14,501.42,0,0,0,0,0,0,26.06,26.26,26.12
$IRIDIUM_FIX,4748.51,-12056.72,051016,204009
$TT8_MAMPS,0.023968,0.287616
$HUMID,41.49
$INTERNAL_PRESSURE,9.33985
$TCM_TEMP,21.40
$XPDR_PINGS,5
$24V_AH,24.39,0.402
$10V_AH,10.29,0.232
$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,74.750,21.075,53.800,0.000,0.000,28.501,18.020,149.007,3.000,0.000,12.948,252.405,76.892,156.948,351.579,13.571,33.434,272.065,0.000,135.294,0.000,12.835,0.000
$DEVICE_MAMPS,119.340,58.905,1062.585,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,56.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336032
$DATA_FILE_SIZE,3541,84
$CAP_FILE_SIZE,24844,0
$CFSIZE,1024409600,1022492672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051016,205454,4739.653,-12214.830,9,0.8,10,16.2,0.0,0.0,11,8.3