version: 66.12
glider: 401
mission: 7
dive: 4
start: 11 4 116 20 30 29
data:
$ID,401
$MISSION,7
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,40
$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,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,3
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,0.99800003
$MASS,71182
$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,215
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,30945
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3775
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.700001
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3930
$ROLL_DEG,40
$C_ROLL_DIVE,2268
$C_ROLL_CLIMB,2283
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,1970
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0018
$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,3000
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-50.846699
$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,1
$XPDR_VALID,3
$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
$GPS1,041116,202448,4740.5049,-12214.5703,2,0.9,18,16.2,0.0,0.0,10,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-55.7
$GPS2,041116,202917,4740.5059,-12214.5576,12,0.9,19,16.2,0.0,0.0,10,3.0
$SPEED_LIMITS,0.244,0.315
$TGT_NAME,HEADING
$TGT_LATLONG,4731.660,-12223.730
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.180361,-0.257852
$KALMAN_X,83.021881,92.014435,85.002121,-520.702698,14.470146
$KALMAN_Y,546.764160,386.576996,316.563751,-818.970886,20.385468
$MHEAD_RNG_PITCHd_Wd,198.8,20000,-13.0,-8.889,-15.77,5059
$D_GRID,40
$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,15,-1.32,-300.6,220,2224,1733,237,0.0,0.0,0,22,0.00,0.00,-3.65,0.000,16390,0.000,0.000,220,2225,2326,2326,329,0,0,0,0,0,0,26.56,24.72,26.55
$GC,23,-1.32,-300.6,220,2225,2325,329,1.4,0.0,1,49,21.50,0.00,0.00,0.000,2054,0.129,0.000,1946,2225,2327,2327,519,0,0,0,0,0,0,25.97,26.18,26.14
$GC,123,-1.32,-300.6,1946,2225,2330,507,17.4,-10.6,25,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2224,2330,2330,528,0,0,0,0,0,0,26.53,26.55,26.55
$GC,203,-1.32,-300.6,1946,2225,2331,519,25.8,-9.5,46,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2225,2331,2331,538,0,0,0,0,0,0,26.58,26.60,26.60
$GC,286,-1.32,-300.6,1946,2225,2333,528,33.8,-9.7,67,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2224,2334,2334,546,0,0,0,0,0,0,26.63,26.65,26.64
$STATE,350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,350,begin apogee
$GC,353,-0.30,0.0,1946,2224,2334,541,40.1,-10.1,84,377,3.47,0.00,17.77,0.916,10246,0.051,0.000,2278,2225,1968,1968,3851,0,0,0,0,0,0,26.29,25.75,24.85
$STATE,378,end apogee,CONTROL_FINISHED_OK
$STATE,378,begin climb
$GC,380,1.32,300.6,2278,2224,1968,874,40.2,0.0,88,409,5.47,0.00,17.33,0.903,10246,0.047,0.000,2795,2224,1618,1618,3586,0,0,0,0,0,0,25.99,25.17,24.58
$GC,483,1.32,300.6,2795,2224,1617,786,33.7,9.3,113,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2224,1617,1617,751,0,0,0,0,0,0,26.28,26.29,26.29
$GC,563,1.32,300.6,2794,2224,1615,741,25.7,10.4,134,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2224,1615,1615,711,0,0,0,0,0,0,26.38,26.39,26.39
$GC,643,1.33,304.7,2794,2224,1613,704,18.2,8.8,155,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2224,1613,1613,679,0,0,0,0,0,0,26.45,26.47,26.46
$GC,723,1.33,304.7,2794,2224,1611,673,10.9,9.5,176,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2224,1611,1611,651,0,0,0,0,0,0,26.51,26.53,26.53
$GC,802,1.33,304.7,2794,2224,1609,645,3.4,9.7,197,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2224,1609,1609,627,0,0,0,0,0,0,26.56,26.58,26.58
$STATE,820,end climb,SURFACE_DEPTH_REACHED
$STATE,820,begin surface coast
$FINISH,-0.1,0.999240
$STATE,843,end surface coast,CONTROL_FINISHED_OK
$STATE,843,begin surface
$SM_CCo,936,0.00,0.000,0,0,1608,311.67
$SM_GC,1.18,27.52,0.00,0.00,0.046,0.000,0.000,220,2224,1608,-6.74,-1.24,311.67,0,0,0,0,0,0,26.20,26.60,26.28
$IRIDIUM_FIX,4748.51,-12056.72,041116,202128
$TT8_MAMPS,0.024717,0.13482
$HUMID,46.77
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,20.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,30.0,6.0
$24V_AH,24.58,0.929
$10V_AH,10.27,1.155
$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,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336484
$DATA_FILE_SIZE,6880,207
$CAP_FILE_SIZE,45966,0
$CFSIZE,1024409600,1021067264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,41.46,0x235a86,0,24
$GPS,041116,204647,4740.530,-12214.717,2,0.8,21,16.2,0.0,0.0,10,3.0