version: 66.12
glider: 401
mission: 13
dive: 4
start: 1 26 117 19 51 17
data:
$ID,401
$MISSION,13
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,30
$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,10
$T_MISSION,20
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,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,50945
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,15
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,17
$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
$GPS1,260117,194628,4743.0527,-12224.3066,2,0.8,23,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.5
$GPS2,260117,195019,4743.0410,-12224.2871,4,0.8,24,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.119,0.196
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.150750,-0.125971
$KALMAN_X,468.015930,231.362885,214.718185,-190.649139,80.610931
$KALMAN_Y,160.456848,124.925896,120.477921,-470.622589,60.052406
$MHEAD_RNG_PITCHd_Wd,213.8,1188,-18.8,-10.000,-26.98,2213
$D_GRID,173
$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,15,-1.76,-146.6,242,2347,1765,4094,0.0,0.0,0,20,0.00,0.00,-2.72,0.000,16390,0.000,0.000,242,2347,2167,2167,4095,0,0,0,0,0,0,26.67,24.81,26.65,9.99,33.50,12.70
$GC,21,-1.76,-146.6,242,2348,2167,4094,0.0,0.0,0,50,22.33,0.93,0.00,0.000,2820,0.121,0.114,2078,2666,2169,2169,4094,0,0,0,0,0,0,26.10,26.04,26.20,10.09,33.93,12.70
$STATE,198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,198,begin apogee
$GC,202,-0.38,0.0,2077,2351,2175,4094,31.4,-15.4,18,220,4.97,0.00,9.93,0.810,10246,0.089,0.000,2517,2342,1988,1988,4094,0,0,0,0,0,0,26.25,26.03,25.21,10.09,33.30,23.60
$STATE,221,end apogee,CONTROL_FINISHED_OK
$STATE,221,begin climb
$GC,222,1.76,146.6,2517,2342,1989,4094,33.6,0.0,20,243,7.15,1.02,9.30,0.793,11012,0.052,0.135,3194,2665,1818,1818,4094,0,0,0,0,0,0,26.24,25.84,25.10,10.05,33.42,23.70
$GC,299,1.76,146.6,3193,2665,1816,4094,25.3,13.9,28,302,0.00,0.93,0.00,0.000,1030,0.000,0.099,3194,2344,1816,1816,4095,0,0,0,0,0,0,26.22,26.06,26.25,10.01,33.02,23.50
$GC,329,1.76,146.6,3194,2344,1815,4094,21.1,14.0,31,332,0.00,0.82,0.00,0.000,516,0.000,0.030,3194,2001,1815,1815,4094,0,0,0,0,0,0,26.51,26.25,26.53,10.01,32.87,23.60
$GC,409,1.76,146.6,3193,2001,1812,4094,10.8,12.6,39,412,0.00,0.93,0.00,0.000,1030,0.000,0.045,3194,2353,1812,1812,4095,0,0,0,0,0,0,26.34,26.25,26.37,10.01,33.30,23.60
$GC,439,1.76,146.6,3193,2353,1811,4094,6.8,13.0,42,442,0.00,0.98,0.00,0.000,260,0.000,0.138,3194,2665,1811,1811,4095,0,0,0,0,0,0,26.61,26.01,26.63,10.00,33.14,23.50
$GC,459,1.76,146.6,3193,2665,1810,4094,4.2,13.1,44,462,0.00,0.90,0.00,0.000,1030,0.000,0.097,3194,2347,1810,1810,4094,0,0,0,0,0,0,26.31,26.12,26.36,10.01,33.93,23.60
$STATE,478,end climb,SURFACE_DEPTH_REACHED
$STATE,478,begin surface coast
$FINISH,0.7,1.022273
$STATE,489,end surface coast,CONTROL_FINISHED_OK
$STATE,489,begin surface
$SM_CCo,526,3.62,0.317,0,0,1766,190.61
$SM_GC,2.73,30.48,0.00,3.62,0.031,0.000,0.317,243,2347,1766,-7.51,-0.14,190.61,0,0,0,0,0,0,26.27,26.66,25.50
$IRIDIUM_FIX,4748.51,-12337.82,260117,194309
$TT8_MAMPS,0.025466,0.133322
$HUMID,33.06
$INTERNAL_PRESSURE,9.92581
$TCM_TEMP,23.60
$XPDR_PINGS,4
$24V_AH,24.79,2.326
$10V_AH,10.12,2.158
$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,64.925,7.450,19.225,3.625,0.000,0.000,0.000,0.000,1.000,0.000,25.922,196.226,239.090,103.610,67.517,7.470,32.441,163.823,0.000,50.471,0.000,1.136,0.000
$DEVICE_MAMPS,120.870,138.465,810.135,317.475,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,37.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322296
$DATA_FILE_SIZE,3903,47
$CAP_FILE_SIZE,27936,0
$CFSIZE,1024409600,1018839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,260117,200112,4743.049,-12224.191,2,0.9,31,16.3,0.7,173.2,9,5.0