version: 66.12
glider: 401
mission: 8
dive: 4
start: 11 8 116 18 43 33
data:
$ID,401
$MISSION,8
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0.5
$D_TGT,50
$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,3
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,1000
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,0.99800003
$MASS,71259
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0060000001
$HD_B,0.0125
$HD_C,1e-06
$HEADING,215
$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,200
$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,30945
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3775
$C_PITCH,2348
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.700001
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3930
$ROLL_DEG,40
$C_ROLL_DIVE,2228
$C_ROLL_CLIMB,2283
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,54
$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,0.0018
$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,-50.729923
$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,30
$ALTIM_PING_DELTA,3
$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,-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
$GPS1,081116,183624,4740.3604,-12214.2090,4,0.8,17,16.2,0.0,0.0,11,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-51.8
$GPS2,081116,184235,4740.3633,-12214.2012,7,0.9,20,16.2,0.0,0.0,10,3.0
$SPEED_LIMITS,0.096,0.434
$TGT_NAME,HEADING
$TGT_LATLONG,4731.517,-12223.374
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.248678,-0.355830
$KALMAN_X,403.662079,293.472107,286.389435,-779.526306,395.437103
$KALMAN_Y,575.077576,431.849731,420.197113,-1106.209351,565.774902
$MHEAD_RNG_PITCHd_Wd,198.7,20000,-2.1,-5.556,-7.29,26939
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.93,-1002.0,221,2233,1522,253,0.0,0.0,0,24,0.00,0.00,-6.28,0.000,16386,0.000,0.000,220,2232,2489,2489,308,0,0,0,0,0,0,26.60,28.83,26.63
$GC,25,-1.93,-1002.0,221,2232,2489,308,1.1,0.0,1,50,18.75,0.00,-2.25,0.000,18438,0.134,0.000,1721,2233,3152,3152,558,0,0,0,0,0,0,26.11,25.15,26.21
$GC,125,-1.93,-1002.0,1720,2233,3154,545,22.6,-14.2,25,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2232,3154,3154,586,0,0,0,0,0,0,26.62,26.64,26.63
$GC,209,-1.93,-1002.0,1720,2232,3157,575,33.9,-13.2,46,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,2232,3157,3157,613,0,0,0,0,0,0,26.68,26.70,26.70
$GC,289,-1.93,-1002.0,1720,2232,3158,602,44.8,-13.6,67,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,2232,3159,3159,637,0,0,0,0,0,0,26.73,26.75,26.74
$STATE,329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,329,begin apogee
$GC,332,-0.30,0.0,1720,2232,3158,637,50.3,-13.2,77,396,5.72,0.00,54.00,1.095,10246,0.073,0.000,2244,2233,1968,1968,2387,0,0,0,0,0,0,26.38,25.26,24.45
$STATE,397,end apogee,CONTROL_FINISHED_OK
$STATE,397,begin climb
$GC,398,1.93,1002.0,2244,2233,1969,872,53.6,0.0,88,467,7.75,0.00,54.12,1.081,10246,0.054,0.000,2955,2233,800,800,2051,0,0,0,0,0,0,25.51,24.72,24.18
$GC,542,1.93,1002.0,2955,2232,798,787,42.4,10.4,120,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2232,798,798,726,0,0,0,0,0,0,26.03,26.05,26.05
$GC,622,1.93,1002.0,2955,2232,796,723,34.3,9.9,141,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2232,796,796,670,0,0,0,0,0,0,26.28,26.30,26.29
$GC,703,1.93,1002.0,2955,2233,794,667,26.4,9.7,162,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2232,794,794,621,0,0,0,0,0,0,26.42,26.45,26.44
$GC,783,1.93,1002.0,2955,2232,792,618,18.8,9.5,183,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2233,792,792,577,0,0,0,0,0,0,26.53,26.55,26.55
$GC,863,1.93,1002.0,2955,2232,790,574,11.4,9.3,204,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2232,790,790,539,0,0,0,0,0,0,26.60,26.63,26.62
$GC,944,1.93,1002.0,2955,2232,788,537,3.8,9.7,225,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2232,788,788,507,0,0,0,0,0,0,26.67,26.69,26.68
$STATE,965,end climb,SURFACE_DEPTH_REACHED
$STATE,965,begin surface coast
$FINISH,0.1,0.999312
$STATE,988,end surface coast,CONTROL_FINISHED_OK
$STATE,988,begin surface
$SM_CCo,1083,0.00,0.000,0,0,786,1016.58
$SM_GC,0.74,29.00,0.00,0.00,0.044,0.000,0.000,211,2232,786,-6.67,0.11,1016.58,0,0,0,0,0,0,26.32,26.72,26.41
$IRIDIUM_FIX,4748.51,-12056.72,081116,183853
$TT8_MAMPS,0.024717,0.132573
$HUMID,49.33
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,20.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,30.5,6.0
$24V_AH,24.18,1.124
$10V_AH,10.22,1.234
$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,61.225,0.000,108.125,0.000,0.000,52.982,43.450,140.726,1.750,0.000,21.590,534.383,119.899,181.862,617.985,16.517,32.442,397.440,0.000,350.198,0.000,5.452,0.000
$DEVICE_MAMPS,133.875,0.000,1095.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336408
$DATA_FILE_SIZE,6848,236
$CAP_FILE_SIZE,31896,0
$CFSIZE,1024409600,1021116416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081116,190217,4740.288,-12214.230,5,0.9,19,16.2,0.0,0.0,10,3.0