version: 66.12
glider: 401
mission: 11
dive: 4
start: 12 28 116 19 29 55
data:
$ID,401
$MISSION,11
$DIVE,4
$N_DIVES,5
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74443
$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,2500
$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,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,21
$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,0.0020999999
$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
$DEVICE2,101
$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
$GPS1,281216,192530,4745.6108,-12224.1777,4,0.8,12,16.3,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-55.0
$GPS2,281216,192858,4745.6460,-12224.1836,5,0.9,16,16.3,0.7,94.2,10,4.8
$SPEED_LIMITS,0.100,0.346
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.077151,-0.336896
$KALMAN_X,280.840393,257.580688,217.141022,-318.445343,138.474136
$KALMAN_Y,1275.606201,1152.289551,969.297974,-1764.312500,603.389160
$MHEAD_RNG_PITCHd_Wd,176.6,5877,-12.9,-10.000,-16.14,4476
$D_GRID,192
$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,-1.54,-293.3,242,2057,1242,4094,0.0,0.0,0,38,0.00,0.00,-7.47,0.000,16390,0.000,0.000,242,2057,2317,2317,4094,0,0,0,0,0,0,26.53,25.66,26.55,9.81,30.35,12.80
$GC,39,-1.54,-293.3,242,2057,2317,4094,0.9,0.0,1,76,22.30,0.00,0.00,0.000,2054,0.135,0.000,1994,2056,2320,2320,4094,0,0,0,0,0,0,25.72,25.86,25.81,10.03,30.82,21.80
$GC,155,-1.54,-293.3,1993,2055,2323,4094,33.6,-21.8,8,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2055,2324,2324,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.04,30.19,23.50
$GC,252,-1.54,-293.3,1994,2055,2328,4094,54.8,-21.3,14,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2055,2328,2328,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.05,30.39,23.50
$GC,349,-1.54,-293.3,1994,2056,2332,4094,74.4,-21.2,20,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2056,2333,2333,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.05,30.07,23.50
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,418,-0.36,0.0,1994,2129,2335,4094,90.4,-24.7,24,455,4.30,0.08,18.98,1.511,10246,0.088,0.051,2374,2081,1969,1969,4094,0,0,0,0,0,0,26.09,25.04,24.18,10.05,29.91,23.50
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,457,1.54,293.3,2374,2081,1969,4094,97.8,0.0,26,494,6.53,0.00,18.15,1.518,10246,0.057,0.000,2970,2081,1628,1628,4094,0,0,0,0,0,0,25.63,24.60,23.80,9.98,30.27,23.60
$GC,574,1.64,339.0,2970,2081,1626,4094,94.0,8.4,33,593,0.35,0.00,4.45,0.906,10246,0.047,0.000,3008,2081,1573,1573,4094,0,0,0,0,0,0,25.65,25.03,24.20,9.91,29.64,23.50
$GC,672,1.64,339.0,3007,2081,1570,4094,83.3,11.1,39,690,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2081,1570,1570,4094,0,0,0,0,0,0,26.11,26.13,26.13,9.90,29.95,23.50
$GC,769,1.64,339.0,3007,2081,1568,4094,71.5,12.5,45,786,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2081,1567,1567,4094,0,0,0,0,0,0,26.25,26.26,26.26,9.90,29.52,23.50
$GC,865,1.64,339.0,3007,2081,1564,4094,59.2,12.5,51,883,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2081,1564,1564,4095,0,0,0,0,0,0,26.34,26.36,26.36,9.90,30.23,23.50
$GC,962,1.64,339.0,3008,2081,1562,4094,48.1,10.7,57,980,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2081,1561,1561,4094,0,0,0,0,0,0,26.42,26.44,26.43,9.90,29.76,23.50
$GC,1058,1.64,339.0,3007,2080,1558,4094,36.3,12.6,63,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2080,1558,1558,4094,0,0,0,0,0,0,26.48,26.50,26.49,9.90,29.60,23.60
$GC,1155,1.64,339.0,3007,2080,1555,4094,22.9,13.3,69,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2080,1555,1555,4094,0,0,0,0,0,0,26.53,26.55,26.54,9.90,29.76,23.50
$GC,1256,1.64,339.0,3007,2081,1553,4094,11.0,11.7,75,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2080,1552,1552,4094,0,0,0,0,0,0,26.58,26.60,26.60,9.90,29.64,23.50
$STATE,1338,end climb,SURFACE_DEPTH_REACHED
$STATE,1338,begin surface coast
$FINISH,-0.1,1.011442
$STATE,1372,end surface coast,CONTROL_FINISHED_OK
$STATE,1372,begin surface
$SM_CCo,1467,0.00,0.000,0,0,1550,360.61
$SM_GC,1.27,28.55,0.00,0.00,0.033,0.000,0.000,242,2080,1550,-7.05,1.37,360.61,0,0,0,0,0,0,26.32,26.65,26.37
$IRIDIUM_FIX,4748.51,-12337.82,281216,192131
$TT8_MAMPS,0.025466,0.472619
$HUMID,29.72
$INTERNAL_PRESSURE,9.80862
$TCM_TEMP,23.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.6,4.0
$24V_AH,23.80,1.971
$10V_AH,9.30,2.240
$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,62.025,0.175,41.575,0.000,0.000,0.000,0.000,0.000,0.750,0.000,17.908,252.428,59.999,105.311,1104.673,17.410,32.442,422.480,0.000,76.252,0.000,2.744,0.000
$DEVICE_MAMPS,135.405,89.505,1517.760,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2a,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,201.666,105.223,460.319,754.164,1081.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322304
$DATA_FILE_SIZE,7345,82
$CAP_FILE_SIZE,33868,11
$CFSIZE,1024409600,1020362752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,171.35,0x213b7e,0,24
$GPS,281216,195520,4745.694,-12224.107,4,1.2,26,16.3,0.0,0.0,9,5.0