version: 66.12
glider: 401
mission: 12
dive: 1
start: 1 5 117 17 42 22
data:
$ID,401
$MISSION,12
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73277
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041100001
$HD_B,0.01072
$HD_C,5.7000002e-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,300
$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,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3920
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,55
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,1400
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0020999999
$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,-51.269836
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$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
$SEABIRD_C_Z,2936.3699
$GPS1,050117,173758,4742.9785,-12225.0908,2,0.8,13,16.3,2.0,24.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-35.4
$GPS2,050117,174121,4742.9541,-12225.0820,4,0.9,21,16.3,0.0,0.0,9,4.4
$SPEED_LIMITS,0.100,0.290
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.111798,-0.267159
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,141.0,912,-16.1,-10.000,-19.05,2988
$D_GRID,186
$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,int_press,humidity,int_temp
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-195.5,243,2059,62,4094,0.0,0.0,0,30,0.00,0.00,-12.73,0.000,16390,0.000,0.000,243,2059,1635,1635,4094,0,0,0,0,0,0,26.70,24.74,26.71,10.16,27.79,8.90
$GC,32,-1.56,-195.5,243,2058,1634,4094,0.8,-3.5,2,62,23.73,3.20,0.00,0.000,2308,0.126,0.077,2188,3208,1636,1636,4094,0,0,1,0,0,0,26.13,26.12,26.29,10.50,27.83,23.30
$GC,290,-1.56,-195.5,2187,3208,1641,4094,26.9,-9.1,45,297,0.00,2.90,0.00,0.000,1030,0.000,0.036,2188,2065,1642,1642,4094,0,0,0,0,0,0,26.39,26.29,26.44,10.53,27.27,23.20
$GC,327,-1.56,-195.5,2187,2065,1642,4094,30.0,-8.8,51,333,0.00,3.12,0.00,0.000,260,0.000,0.076,2188,3208,1642,1642,4094,0,0,1,0,0,0,26.73,26.08,26.75,10.53,27.51,23.10
$GC,562,-1.56,-195.5,2187,3208,1646,4094,50.2,-9.2,90,569,0.00,2.95,0.00,0.000,1030,0.000,0.035,2188,2040,1646,1646,4094,0,0,0,0,0,0,26.43,26.31,26.48,10.54,26.80,23.30
$GC,599,-1.56,-195.5,2187,2040,1647,4094,53.4,-8.7,96,605,0.00,3.17,0.00,0.000,260,0.000,0.074,2188,3208,1647,1647,4094,0,0,1,0,0,0,26.82,26.11,26.83,10.55,26.57,23.30
$GC,833,-1.56,-195.5,2187,3208,1653,4093,76.8,-10.7,135,840,0.00,2.90,0.00,0.000,1030,0.000,0.034,2188,2050,1653,1653,4094,0,0,0,0,0,0,26.48,26.36,26.52,10.55,26.33,23.40
$GC,870,-1.56,-195.5,2187,2049,1654,4094,80.5,-9.9,141,877,0.00,3.15,0.00,0.000,260,0.000,0.073,2188,3208,1654,1654,4094,0,0,1,0,0,0,26.87,26.15,26.89,10.56,26.68,23.40
$STATE,960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,960,begin apogee
$GC,966,-0.36,0.0,2188,2101,1656,4094,90.2,-10.3,156,988,4.25,0.00,13.35,1.431,10246,0.077,0.000,2575,2098,1399,1399,4094,0,0,0,0,0,0,26.32,25.81,24.60,10.56,26.01,23.40
$STATE,989,end apogee,CONTROL_FINISHED_OK
$STATE,989,begin climb
$GC,990,1.56,195.5,2575,2099,1399,4094,91.7,0.0,160,1018,6.38,3.33,12.40,1.382,11012,0.052,0.082,3183,909,1171,1171,4094,0,0,0,0,0,0,26.15,25.51,24.31,10.50,26.01,23.50
$GC,1247,1.71,266.5,3182,909,1166,4094,74.4,7.6,203,1261,0.45,2.90,5.50,0.948,11270,0.048,0.037,3230,2067,1088,1088,4094,0,0,0,0,0,0,26.18,26.17,24.75,10.46,25.19,23.50
$GC,1291,1.83,322.7,3230,2068,1087,4094,70.8,8.1,210,1305,0.32,3.20,4.85,0.854,10756,0.047,0.080,3268,909,1023,1023,4094,0,0,0,0,0,0,26.15,25.83,24.73,10.45,25.34,23.40
$GC,1533,1.86,335.2,3267,909,1016,4094,47.4,9.6,250,1541,0.00,2.97,2.35,0.197,9222,0.000,0.037,3267,2097,1007,1007,4094,0,0,0,0,0,0,26.30,26.21,24.98,10.43,25.58,23.50
$GC,1571,1.91,362.1,3266,2097,1006,4094,43.8,9.1,256,1585,0.22,3.25,3.28,0.466,10756,0.053,0.074,3295,913,975,975,4094,0,0,0,0,0,0,26.31,26.06,25.06,10.43,25.03,23.50
$GC,1814,1.91,362.1,3294,913,969,4094,19.7,10.4,296,1820,0.00,2.97,0.00,0.000,1030,0.000,0.037,3294,2100,969,969,4094,0,0,0,0,0,0,26.39,26.29,26.43,10.42,25.19,23.50
$GC,1850,1.93,370.3,3294,2100,968,4094,16.0,9.7,302,1857,0.00,3.25,0.00,0.000,516,0.000,0.076,3294,908,968,968,4094,0,0,0,0,0,0,26.69,26.07,26.70,10.42,24.83,23.50
$STATE,1994,end climb,SURFACE_DEPTH_REACHED
$STATE,1994,begin surface coast
$FINISH,0.2,1.022272
$STATE,2013,end surface coast,CONTROL_FINISHED_OK
$STATE,2013,begin surface
$SM_CCo,2113,0.00,0.000,0,0,963,375.21
$SM_GC,0.70,31.60,2.90,0.00,0.034,0.037,0.000,242,2052,963,-7.67,-1.05,375.21,0,0,1,0,0,0,26.34,26.37,26.41
$IRIDIUM_FIX,4748.51,-12337.82,050117,173357
$TT8_MAMPS,0.025466,0.134071
$HUMID,24.01
$INTERNAL_PRESSURE,10.336
$TCM_TEMP,23.50
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.7,5.3
$24V_AH,24.31,2.042
$10V_AH,10.11,1.970
$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,66.950,48.975,41.725,0.000,0.000,0.000,0.000,0.000,2.250,0.000,22.782,798.069,892.129,181.311,303.045,22.722,29.318,426.719,0.000,255.649,0.000,2.737,0.000
$DEVICE_MAMPS,126.225,81.855,1430.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322428
$DATA_FILE_SIZE,13984,329
$CAP_FILE_SIZE,50917,0
$CFSIZE,1024409600,1019346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0,0
$GPS,050117,181823,4742.944,-12224.996,2,1.1,16,16.3,0.0,0.0,9,4.8