version: 66.12
glider: 401
mission: 7
dive: 5
start: 11 4 116 20 52 35
data:
$ID,401
$MISSION,7
$DIVE,5
$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,30
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,10
$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
$GPS1,041116,204647,4740.5303,-12214.7168,2,0.8,21,16.2,0.0,0.0,10,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-53.7
$GPS2,041116,205139,4740.5366,-12214.6982,12,0.9,23,16.2,0.0,0.0,10,3.0
$SPEED_LIMITS,0.252,0.300
$TGT_NAME,HEADING
$TGT_LATLONG,4731.690,-12223.872
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.145447,-0.262591
$KALMAN_X,67.462517,99.894363,84.598175,-689.733643,-54.829990
$KALMAN_Y,681.993103,466.679962,325.736359,-990.345886,19.429932
$MHEAD_RNG_PITCHd_Wd,192.8,20000,-3.0,-4.444,-8.42,16842
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.08,-501.0,219,2225,1607,273,0.0,0.0,0,28,0.00,0.00,-6.28,0.000,16390,0.000,0.000,219,2224,2561,2561,459,0,0,0,0,0,0,26.44,25.03,26.46
$GC,29,-1.08,-501.0,219,2225,2561,459,1.3,-4.3,2,54,22.70,0.00,0.00,0.000,2054,0.130,0.000,2023,2222,2564,2564,612,0,0,0,0,0,0,25.84,26.03,25.99
$GC,128,-1.08,-501.0,2022,2222,2566,600,21.0,-7.0,26,134,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2222,2566,2566,616,0,0,0,0,0,0,26.39,26.41,26.41
$GC,208,-1.08,-501.0,2022,2222,2566,606,23.4,0.0,47,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,621,0,0,0,0,0,0,26.47,26.48,26.48
$GC,288,-1.08,-501.0,2023,2222,2566,611,23.4,-0.0,68,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2222,2566,2566,626,0,0,0,0,0,0,26.53,26.55,26.54
$GC,369,-1.08,-501.0,2023,2222,2566,616,23.4,0.0,89,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,630,0,0,0,0,0,0,26.58,26.60,26.60
$GC,449,-1.08,-501.0,2023,2222,2566,620,23.4,-0.1,110,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2565,2565,634,0,0,0,0,0,0,26.63,26.65,26.64
$GC,529,-1.08,-501.0,2023,2222,2566,623,23.4,-0.0,131,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,637,0,0,0,0,0,0,26.66,26.68,26.68
$GC,609,-1.08,-501.0,2022,2222,2566,626,23.4,-0.0,152,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,638,0,0,0,0,0,0,26.70,26.72,26.71
$GC,689,-1.08,-501.0,2023,2222,2566,627,23.4,0.0,173,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,640,0,0,0,0,0,0,26.72,26.74,26.74
$GC,769,-1.08,-501.0,2023,2222,2566,630,23.4,-0.0,194,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,642,0,0,0,0,0,0,26.74,26.76,26.76
$GC,849,-1.08,-501.0,2022,2222,2567,633,23.4,0.0,215,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,645,0,0,0,0,0,0,26.76,26.78,26.77
$GC,930,-1.08,-501.0,2023,2223,2566,635,23.4,-0.0,236,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2222,2566,2566,648,0,0,0,0,0,0,26.79,26.82,26.81
$GC,1010,-1.08,-501.0,2023,2222,2566,638,23.4,0.0,257,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,649,0,0,0,0,0,0,26.76,26.78,26.77
$GC,1090,-1.08,-501.0,2023,2222,2566,640,23.4,0.0,278,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2222,2566,2566,651,0,0,0,0,0,0,26.84,26.85,26.84
$GC,1170,-1.08,-501.0,2023,2222,2566,642,23.4,0.0,299,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2223,2566,2566,654,0,0,0,0,0,0,26.84,26.86,26.86
$STATE,1206,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1206,begin apogee
$GC,1209,-0.30,0.0,2023,2222,2566,651,23.4,0.0,308,1244,2.47,0.00,27.17,0.791,10246,0.052,0.000,2263,2223,1968,1968,3136,0,0,0,0,0,0,26.48,25.89,25.13
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1246,1.08,501.0,2263,2222,1968,878,23.5,0.0,314,1282,4.85,0.00,26.95,0.777,10246,0.053,0.000,2719,2223,1384,1384,3211,0,0,0,0,0,0,26.08,25.47,24.74
$GC,1356,1.08,501.0,2718,2222,1382,791,16.4,7.7,340,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2223,1382,1382,748,0,0,0,0,0,0,26.30,26.32,26.32
$GC,1436,1.08,501.0,2718,2222,1381,742,10.2,7.7,361,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2223,1380,1380,705,0,0,0,0,0,0,26.40,26.41,26.41
$GC,1516,1.08,501.0,2718,2222,1378,701,3.8,7.9,382,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2222,1378,1378,668,0,0,0,0,0,0,26.47,26.49,26.48
$STATE,1540,end climb,SURFACE_DEPTH_REACHED
$STATE,1541,begin surface coast
$FINISH,-0.0,0.999282
$STATE,1571,end surface coast,CONTROL_FINISHED_OK
$STATE,1571,begin surface
$SM_CCo,1664,0.00,0.000,0,0,1377,509.15
$SM_GC,0.76,26.90,0.00,0.00,0.046,0.000,0.000,211,2222,1377,-6.78,-1.27,509.15,0,0,0,0,0,0,26.10,26.53,26.19
$IRIDIUM_FIX,4748.51,-12056.72,041116,204728
$TT8_MAMPS,0.024717,0.161035
$HUMID,46.88
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,20.60
$XPDR_PINGS,34
$24V_AH,24.73,0.929
$10V_AH,10.17,1.155
$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,336388
$DATA_FILE_SIZE,13504,396
$CAP_FILE_SIZE,45852,0
$CFSIZE,1024409600,1021018112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,041116,212102,4740.527,-12214.742,2,0.8,22,16.2,0.0,0.0,10,3.0