version: 66.12
glider: 401
mission: 9
dive: 4
start: 12 15 116 22 43 39
data:
$ID,401
$MISSION,9
$DIVE,4
$N_DIVES,7
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74443
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0063100001
$HD_B,0.01122
$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,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.5
$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,70
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2118
$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,-50.939529
$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,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,134
$DEVICE5,151
$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,2.9363699
$GPS1,151216,223851,4741.0244,-12225.0771,3,0.9,21,16.3,0.5,214.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-44.5
$GPS2,151216,224242,4740.9604,-12225.1152,5,0.8,22,16.3,0.0,0.0,11,5.0
$SPEED_LIMITS,0.173,0.340
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.029858,0.338841
$KALMAN_X,-190.228943,-76.526535,-66.560364,-21.038912,-17.306072
$KALMAN_Y,-1380.991333,-722.425049,-658.979919,504.513062,-247.064087
$MHEAD_RNG_PITCHd_Wd,348.7,2878,-14.2,-10.000,-16.38,4490
$D_GRID,50
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.51,-293.3,241,2102,1393,4094,0.0,0.0,0,37,0.00,0.00,-7.25,0.000,16390,0.000,0.000,241,2102,2466,2466,4094,0,0,0,0,0,0,26.44,25.60,26.46,9.44,25.94,13.50
$GC,38,-1.51,-293.3,241,2102,2466,4094,0.8,0.0,1,75,20.67,4.32,0.00,0.000,2564,0.122,0.086,1905,576,2469,2469,4095,0,0,0,0,0,0,25.73,25.70,25.82,9.65,26.05,21.90
$GC,775,-1.51,-293.3,1905,576,2475,4094,48.3,-0.0,48,794,0.00,3.85,0.00,0.000,1030,0.000,0.040,1905,2113,2475,2475,4094,0,0,0,0,0,0,26.44,26.42,26.46,9.68,25.54,23.70
$GC,888,-1.51,-293.3,1905,2114,2474,4094,48.5,-0.2,55,907,0.00,4.32,0.00,0.000,516,0.000,0.094,1905,576,2475,2475,4094,0,0,0,0,0,0,26.71,26.25,26.72,9.68,25.62,23.70
$GC,1606,-1.51,-293.3,1905,576,2475,4094,48.6,-0.0,101,1625,0.00,3.78,0.00,0.000,1030,0.000,0.038,1905,2099,2475,2475,4094,0,0,0,0,0,0,26.60,26.56,26.63,9.68,25.50,23.70
$GC,1719,-1.51,-293.3,1905,2099,2474,4094,48.6,-0.0,108,1737,0.00,4.25,0.00,0.000,516,0.000,0.095,1905,578,2475,2475,4094,0,0,0,0,0,0,26.88,26.36,26.89,9.69,25.50,23.70
$STATE,1830,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1831,begin apogee
$GC,1838,-0.34,0.0,1905,2102,2475,4094,48.6,-0.1,115,1875,3.62,0.00,17.42,1.040,10246,0.028,0.000,2274,2102,2115,2115,4094,0,0,0,0,0,0,26.65,25.80,25.19,9.69,25.19,23.60
$STATE,1876,end apogee,CONTROL_FINISHED_OK
$STATE,1876,begin climb
$GC,1878,1.51,293.3,2273,2102,2116,4094,48.7,0.0,117,1915,6.15,4.40,16.88,1.027,11012,0.033,0.094,2878,578,1773,1773,4094,0,0,0,0,0,0,26.25,25.50,24.92,9.62,25.15,23.80
$STATE,2024,end climb,NO_VERTICAL_VELOCITY
$STATE,2024,begin surface
$SM_CCo,2026,79.30,1.063,0,0,51,1773.01
$SM_GC,0.41,27.60,3.90,0.00,0.031,0.037,0.000,243,2100,40,-6.73,-1.59,1784.17,0,0,1,0,0,0,25.89,25.88,25.95
$IRIDIUM_FIX,4748.51,-12337.82,151216,220905
$TT8_MAMPS,0.025466,0.475615
$HUMID,24.71
$INTERNAL_PRESSURE,9.13477
$TCM_TEMP,23.70
$XPDR_PINGS,6
$24V_AH,24.01,1.538
$10V_AH,9.38,1.651
$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,58.050,32.625,34.300,79.300,0.000,26.146,35.022,94.386,1.500,0.000,23.280,366.393,259.226,163.230,1851.802,25.415,32.439,416.905,0.000,110.482,0.000,1.139,0.000
$DEVICE_MAMPS,122.400,94.860,1039.635,1062.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,175.663,162.384,708.345,1159.694,1662.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,10851,126
$CAP_FILE_SIZE,25114,6
$CFSIZE,1024409600,1020411904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,151216,232452,4740.872,-12225.150,2,0.8,31,16.3,0.0,0.0,10,5.0