version: 66.12
glider: 401
mission: 13
dive: 1
start: 1 26 117 17 54 11
data:
$ID,401
$MISSION,13
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,60
$D_ABORT,220
$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,20
$T_MISSION,25
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74479
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0020000001
$HD_B,0.017689999
$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,190
$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,3693
$C_PITCH,2624
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16
$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,57
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,1991
$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,0
$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,-50.99292
$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,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
$DEVICE2,101
$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,2936.3699
$GPS1,260117,174923,4743.0640,-12224.8955,2,1.2,47,16.3,0.0,0.0,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-34.3
$GPS2,260117,175308,4743.0781,-12224.8691,4,1.3,49,16.3,0.5,23.0,7,5.2
$SPEED_LIMITS,0.119,0.196
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.015751,-0.195822
$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,159.1,1074,-18.8,-10.000,-26.98,2213
$D_GRID,178
$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,14,-1.48,-146.6,243,2205,63,4094,0.0,0.0,0,31,0.00,0.00,-14.00,0.000,16390,0.000,0.000,243,2205,2167,2167,4095,0,0,0,0,0,0,26.89,24.88,26.91,9.74,33.54,15.50
$GC,32,-1.48,-146.6,243,2205,2167,4094,0.9,-3.3,2,61,22.42,3.30,0.00,0.000,2820,0.114,0.056,2138,936,2168,2168,4094,0,0,0,0,0,0,26.32,26.39,26.41,10.18,34.72,24.00
$GC,289,-1.48,-146.6,2137,936,2178,4094,41.2,-15.3,45,296,0.00,3.17,0.00,0.000,1030,0.000,0.050,2138,2179,2178,2178,4094,0,0,0,0,0,0,26.58,26.44,26.63,10.17,33.81,23.90
$GC,326,-1.48,-146.6,2137,2179,2179,4095,46.8,-15.5,51,333,0.00,3.25,0.00,0.000,516,0.000,0.067,2138,935,2179,2179,4094,0,0,1,0,0,0,26.95,26.39,26.96,10.17,34.36,23.90
$GC,338,-1.48,-146.6,2137,934,2179,4094,48.7,-15.1,53,346,0.00,3.22,0.00,0.000,1030,0.000,0.053,2138,2189,2180,2180,4094,0,0,0,0,0,0,26.58,26.44,26.63,10.17,33.93,23.90
$GC,376,-1.48,-146.6,2137,2188,2181,4094,54.7,-15.5,59,383,0.00,3.30,0.00,0.000,516,0.000,0.067,2138,935,2181,2181,4094,0,0,1,0,0,0,26.95,26.39,26.96,10.17,33.89,23.80
$GC,388,-1.48,-146.6,2137,934,2182,4095,56.6,-15.7,61,396,0.00,3.22,0.00,0.000,1030,0.000,0.053,2138,2191,2181,2181,4094,0,0,0,0,0,0,26.58,26.44,26.63,10.17,34.44,23.80
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,416,-0.31,0.0,2138,2191,2182,4094,60.5,-15.1,65,433,4.15,0.00,10.23,1.015,10246,0.078,0.000,2515,2191,1990,1990,4094,0,0,0,0,0,0,26.44,26.15,25.18,10.17,33.97,23.80
$STATE,434,end apogee,CONTROL_FINISHED_OK
$STATE,434,begin climb
$GC,436,1.48,146.6,2514,2191,1989,4094,62.5,0.0,68,459,5.93,3.40,9.32,0.990,10756,0.055,0.072,3077,934,1818,1818,4094,0,0,0,0,0,0,26.39,26.00,25.01,10.13,33.81,23.90
$GC,687,1.61,204.2,3076,933,1815,4094,43.9,7.3,110,701,0.38,3.20,4.53,0.601,11270,0.041,0.046,3119,2190,1751,1751,4094,0,0,0,0,0,0,26.48,26.36,25.34,10.09,34.24,23.80
$GC,731,1.68,240.1,3118,2190,1751,4094,40.3,8.3,117,738,0.20,0.00,3.72,0.492,10502,0.054,0.000,3145,2190,1709,1709,4094,0,0,0,0,0,0,26.50,26.18,25.37,10.07,34.01,23.70
$GC,768,1.68,240.1,3144,2190,1708,4094,36.5,10.8,123,775,0.00,3.55,0.00,0.000,260,0.000,0.103,3144,3441,1708,1708,4094,0,0,0,0,0,0,26.74,26.29,26.75,10.06,33.61,23.80
$GC,841,1.68,240.1,3144,3441,1705,4094,26.3,15.1,135,848,0.00,3.38,0.00,0.000,1030,0.000,0.070,3145,2171,1705,1705,4094,0,0,0,0,0,0,26.52,26.42,26.55,10.06,33.65,23.70
$GC,878,1.68,240.1,3144,2167,1704,4094,21.3,13.0,141,885,0.00,3.62,0.00,0.000,260,0.000,0.104,3144,3435,1704,1704,4094,0,0,1,0,0,0,26.81,26.28,26.82,10.06,33.85,23.70
$GC,927,1.68,240.1,3144,3435,1703,4094,15.0,13.2,149,934,0.00,3.30,0.00,0.000,1030,0.000,0.069,3145,2195,1703,1703,4094,0,0,0,0,0,0,26.54,26.44,26.58,10.05,33.81,23.80
$GC,964,1.68,240.1,3144,2192,1702,4094,10.6,11.4,155,971,0.00,3.30,0.00,0.000,516,0.000,0.069,3145,949,1702,1702,4094,0,0,0,0,0,0,26.84,26.32,26.85,10.05,33.57,23.70
$STATE,1054,end climb,SURFACE_DEPTH_REACHED
$STATE,1054,begin surface coast
$FINISH,0.1,1.001508
$STATE,1073,end surface coast,CONTROL_FINISHED_OK
$STATE,1073,begin surface
$SM_CCo,1172,0.00,0.000,0,0,1698,251.57
$SM_GC,1.56,29.62,3.20,0.00,0.029,0.044,0.000,242,2191,1698,-7.44,-0.82,251.57,0,0,0,0,0,0,26.36,26.46,26.48
$IRIDIUM_FIX,4748.51,-12337.82,260117,174702
$TT8_MAMPS,0.025466,0.164031
$HUMID,33.69
$INTERNAL_PRESSURE,9.95511
$TCM_TEMP,23.70
$XPDR_PINGS,14
$24V_AH,24.88,2.238
$10V_AH,10.13,2.065
$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,62.700,46.425,27.800,0.000,0.000,0.000,0.000,0.000,3.500,0.000,50.377,459.746,443.113,164.583,198.944,19.775,29.320,314.145,0.000,142.020,0.000,1.136,0.000
$DEVICE_MAMPS,113.985,104.040,1015.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322492
$DATA_FILE_SIZE,14250,173
$CAP_FILE_SIZE,38174,0
$CFSIZE,1024409600,1018953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,260117,181435,4743.122,-12224.758,1,0.9,20,16.3,0.0,0.0,10,5.0