version: 66.12
glider: 401
mission: 7
dive: 3
start: 11 4 116 19 35 41
data:
$ID,401
$MISSION,7
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$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,35
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,0.99800003
$MASS,71182
$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,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,30945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3775
$C_PITCH,2380
$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,2268
$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,-50.846699
$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
$GPS1,041116,193047,4740.5205,-12214.4082,5,0.9,19,16.2,0.0,0.0,10,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-55.6
$GPS2,041116,193448,4740.5195,-12214.4014,8,0.9,26,16.2,0.0,0.0,10,3.0
$SPEED_LIMITS,0.131,0.157
$TGT_NAME,HEADING
$TGT_LATLONG,4731.674,-12223.574
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.067949,-0.141638
$KALMAN_X,110.315430,93.408974,91.012253,-359.408966,54.924583
$KALMAN_Y,426.651825,290.278992,279.809387,-538.420959,171.787567
$MHEAD_RNG_PITCHd_Wd,189.4,20000,-13.3,-4.762,-16.86,3149
$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,-0.97,-100.2,220,2224,1732,237,0.0,0.0,0,22,0.00,0.00,-2.22,0.000,16390,0.000,0.000,221,2224,2094,2094,334,0,0,0,0,0,0,26.53,24.60,26.51
$GC,23,-0.97,-100.2,220,2224,2093,334,1.3,0.0,1,48,22.83,0.00,0.00,0.000,2054,0.126,0.000,2058,2224,2095,2095,492,0,0,0,0,0,0,25.94,26.15,26.10
$GC,122,-0.97,-100.2,2058,2224,2096,481,10.2,-6.2,25,127,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2224,2096,2096,498,0,0,0,0,0,0,26.49,26.51,26.51
$GC,201,-0.97,-100.2,2058,2224,2098,488,15.2,-6.0,46,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2224,2098,2098,504,0,0,0,0,0,0,26.55,26.57,26.56
$GC,281,-0.97,-100.2,2058,2224,2099,496,20.4,-7.0,67,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2225,2099,2099,511,0,0,0,0,0,0,26.60,26.61,26.61
$GC,361,-0.97,-100.2,2058,2224,2100,502,25.1,-5.6,88,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2224,2100,2100,517,0,0,0,0,0,0,26.63,26.65,26.65
$GC,441,-0.97,-100.2,2058,2224,2101,508,29.6,-5.7,109,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2224,2101,2101,521,0,0,0,0,0,0,26.67,26.69,26.68
$GC,523,-0.97,-100.2,2058,2224,2102,512,34.4,-5.7,130,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2224,2102,2102,525,0,0,0,0,0,0,26.70,26.72,26.72
$GC,603,-0.97,-100.2,2057,2224,2103,516,38.9,-5.9,151,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2225,2103,2103,528,0,0,0,0,0,0,26.73,26.74,26.74
$GC,683,-0.97,-100.2,2058,2224,2105,518,43.6,-5.8,172,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2225,2105,2105,531,0,0,0,0,0,0,26.75,26.77,26.77
$GC,763,-0.97,-100.2,2058,2224,2105,521,48.3,-5.9,193,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2224,2105,2105,533,0,0,0,0,0,0,26.77,26.79,26.79
$STATE,792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,792,begin apogee
$GC,795,-0.30,0.0,2058,2225,2106,532,50.0,-5.4,200,808,2.28,0.00,7.85,0.860,10246,0.058,0.000,2276,2225,1969,1969,4095,0,0,0,0,0,0,26.36,26.05,25.03
$STATE,809,end apogee,CONTROL_FINISHED_OK
$STATE,809,begin climb
$GC,810,0.97,100.2,2275,2225,1968,877,50.0,0.0,202,828,4.30,0.00,7.07,0.820,10246,0.055,0.000,2684,2225,1851,1851,4095,0,0,0,0,0,0,26.27,25.61,24.94
$GC,903,1.06,146.5,2683,2224,1851,787,47.5,3.2,225,910,0.10,0.00,4.30,0.606,10246,0.088,0.000,2697,2225,1797,1797,4095,0,0,0,0,0,0,26.29,25.92,24.94
$GC,985,1.06,146.5,2697,2224,1797,787,44.1,4.8,246,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1796,1796,757,0,0,0,0,0,0,26.58,26.60,26.59
$GC,1064,1.06,146.5,2696,2224,1795,746,40.0,5.4,267,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1796,1796,721,0,0,0,0,0,0,26.62,26.64,26.63
$GC,1144,1.06,146.5,2696,2224,1795,714,35.7,5.3,288,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1794,1794,692,0,0,0,0,0,0,26.65,26.67,26.67
$GC,1224,1.06,146.5,2696,2224,1794,686,31.4,5.6,309,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1794,1794,668,0,0,0,0,0,0,26.69,26.71,26.71
$GC,1304,1.06,146.5,2696,2224,1792,662,27.1,5.3,330,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1793,1793,647,0,0,0,0,0,0,26.72,26.74,26.74
$GC,1383,1.06,146.5,2697,2224,1791,641,22.9,5.3,351,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1792,1792,629,0,0,0,0,0,0,26.74,26.77,26.76
$GC,1463,1.06,146.5,2697,2223,1790,623,19.0,4.8,372,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1790,1790,613,0,0,0,0,0,0,26.77,26.79,26.79
$GC,1543,1.07,153.0,2696,2224,1790,607,15.3,4.5,393,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2224,1789,1789,599,0,0,0,0,0,0,26.79,26.81,26.80
$GC,1623,1.09,162.0,2696,2224,1788,594,11.5,4.5,414,1630,0.00,0.00,2.33,0.127,8198,0.000,0.000,2697,2225,1778,1778,4095,0,0,0,0,0,0,26.81,26.17,25.37
$GC,1704,1.10,167.2,2697,2224,1777,789,7.8,4.6,435,1712,0.08,0.00,2.10,0.060,10246,0.103,0.000,2708,2225,1772,1772,4095,0,0,0,0,0,0,26.57,26.14,25.20
$GC,1786,1.10,167.2,2708,2225,1771,788,3.7,4.9,456,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2225,1770,1770,757,0,0,0,0,0,0,26.84,26.85,26.84
$STATE,1818,end climb,SURFACE_DEPTH_REACHED
$STATE,1818,begin surface coast
$FINISH,-0.1,0.999274
$STATE,1863,end surface coast,CONTROL_FINISHED_OK
$STATE,1863,begin surface
$SM_CCo,1895,3.30,0.270,0,0,1734,200.05
$SM_GC,2.61,26.35,0.00,3.30,0.047,0.000,0.270,220,2224,1734,-6.74,-1.24,200.05,0,0,0,0,0,0,26.44,26.80,25.53
$IRIDIUM_FIX,4748.51,-12056.72,041116,193112
$TT8_MAMPS,0.024717,0.160286
$HUMID,48.03
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,20.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,30.2,7.2
$24V_AH,24.60,0.929
$10V_AH,10.19,1.155
$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,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336484
$DATA_FILE_SIZE,16782,476
$CAP_FILE_SIZE,112145,0
$CFSIZE,1024409600,1021050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,041116,200835,4740.500,-12214.615,8,0.9,53,16.2,0.0,72.9,9,5.8