version: 66.12
glider: 401
mission: 20
dive: 97
start: 4 30 117 4 31 1
data:
$ID,401
$MISSION,20
$DIVE,97
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,3
$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,42
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,110
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$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,2
$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,2412
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$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,-51.144318
$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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$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
$GPS1,300417,041217,5712.9312,-16527.7129,5,0.8,17,10.8,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,7.5
$GPS2,300417,041217,5712.9312,-16527.7129,5,0.8,17,10.8,0.0,0.0,11,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.238,-16509.004
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251445,-0.265212
$KALMAN_X,-8459.951172,-130.984482,-762.678284,27076.830078,-123.945663
$KALMAN_Y,6054.630371,-134.685699,-200.494690,-8766.424805,253.391632
$MHEAD_RNG_PITCHd_Wd,99.2,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-439.9,2343,2034,2370,4094,0.0,0.0,0,19,0.00,0.00,-1.55,0.000,16390,0.000,0.000,2344,2034,2697,2697,4095,0,0,0,0,0,0,25.86,24.46,25.83,10.05,35.62
$GC,21,-1.72,-439.9,2343,2034,2697,4095,0.0,0.0,0,40,5.25,4.07,0.00,0.000,4356,0.171,0.286,1867,3427,2698,2698,4095,0,0,0,0,0,0,25.60,25.44,25.63,10.13,35.90
$GC,56,-1.72,-439.9,1867,3426,2698,4095,7.8,-12.2,2,71,0.00,3.75,0.00,0.000,1030,0.000,0.137,1867,2029,2698,2698,4094,0,0,0,0,0,0,25.67,25.60,25.66,10.12,35.11
$GC,133,-1.72,-439.9,1867,2029,2700,4094,17.0,-10.3,8,148,0.00,4.05,0.00,0.000,516,0.000,0.271,1867,607,2700,2700,4095,0,0,0,0,0,0,25.98,25.56,26.00,10.12,35.19
$GC,177,-1.72,-439.9,1867,606,2701,4095,22.4,-12.2,11,191,0.00,3.70,0.00,0.000,1030,0.000,0.146,1867,2001,2701,2701,4094,0,0,0,0,0,0,25.76,25.72,25.79,10.12,34.68
$GC,254,-1.72,-439.9,1866,2001,2702,4094,31.5,-11.5,17,268,0.00,4.22,0.00,0.000,260,0.000,0.313,1867,3438,2702,2702,4094,0,0,0,0,0,0,26.09,25.63,26.10,10.12,34.80
$GC,296,-1.72,-439.9,1867,3438,2703,4094,36.0,-10.4,20,311,0.00,3.70,0.00,0.000,1030,0.000,0.134,1867,2042,2703,2703,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.12,35.11
$GC,373,-1.72,-439.9,1866,2042,2705,4094,44.3,-11.0,26,392,0.00,4.03,0.00,0.000,516,0.000,0.271,1867,617,2705,2705,4094,0,0,0,0,0,0,26.17,25.74,26.18,10.11,34.95
$GC,407,-1.72,-439.9,1867,617,2705,4094,48.2,-11.1,28,422,0.00,3.78,0.00,0.000,1030,0.000,0.146,1867,2050,2705,2705,4094,0,0,0,0,0,0,25.91,25.86,25.95,10.12,34.60
$GC,489,-1.72,-439.9,1867,2050,2707,4094,57.6,-11.3,34,503,0.00,4.07,0.00,0.000,260,0.000,0.313,1867,3443,2707,2707,4094,0,0,0,0,0,0,26.23,25.76,26.25,10.12,34.68
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,526,-0.45,0.0,1867,2018,2708,4094,60.8,-10.2,36,570,4.32,0.00,26.95,4.452,10244,0.216,0.000,2256,2019,2175,2175,4094,0,0,0,0,0,0,25.93,24.72,23.91,10.12,34.48
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,572,1.72,439.9,2255,2019,2175,4095,64.2,0.0,39,619,7.55,0.00,26.58,4.368,11270,0.142,0.000,2943,2019,1660,1660,4094,0,0,0,0,0,0,25.32,25.52,23.53,10.00,34.83
$GC,682,1.72,439.9,2942,2019,1658,4094,55.7,11.7,47,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2019,1658,1658,4094,0,0,0,0,0,0,25.48,25.50,25.50,9.91,34.24
$GC,758,1.72,439.9,2942,2018,1656,4094,45.7,13.0,53,776,0.00,4.18,0.00,0.000,260,0.000,0.278,2943,3439,1656,1656,4094,0,0,1,0,0,0,25.70,25.29,25.70,9.90,33.89
$GC,804,1.72,439.9,2942,3439,1655,4094,38.3,15.2,56,823,0.00,3.80,0.00,0.000,1030,0.000,0.127,2943,2022,1654,1654,4094,0,0,0,0,0,0,25.53,25.47,25.56,9.90,33.85
$GC,888,1.72,439.9,2942,2022,1652,4094,26.1,14.3,62,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2022,1652,1652,4094,0,0,0,0,0,0,25.89,25.91,25.91,9.90,34.05
$GC,967,1.72,439.9,2942,2022,1650,4094,15.9,13.1,68,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2022,1649,1649,4094,0,0,0,0,0,0,25.98,26.00,26.00,9.90,34.72
$GC,1042,1.72,439.9,2942,2022,1647,4094,4.9,15.0,74,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2019,1647,1647,4094,0,0,0,0,0,0,26.06,26.07,26.07,9.91,34.56
$STATE,1072,end climb,SURFACE_DEPTH_REACHED
$STATE,1072,begin surface coast
$FINISH,-0.1,1.003256
$STATE,1098,end surface coast,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$SM_CCo,1194,0.00,0.000,0,0,1646,454.20
$SM_GC,0.82,28.73,0.00,0.00,0.104,0.000,0.000,242,2017,1646,-6.77,-0.46,454.20,0,0,0,0,0,0,25.82,26.12,25.89
$IRIDIUM_FIX,5744.64,-16600.79,300417,032405
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.43
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.8,8.5
$24V_AH,23.53,11.922
$10V_AH,8.79,9.723
$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,45.850,50.875,53.525,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,283.401,60.137,135.684,749.183,22.799,33.411,417.710,0.000,761.764,0.000,5.446,0.000
$DEVICE_MAMPS,216.021,312.858,4452.019,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.993,99.976,167.744,428.761,737.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7330,78
$CAP_FILE_SIZE,24632,7
$CFSIZE,1024409600,1013743616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300417,045217,5713.208,-16527.193,4,0.9,49,10.8,1.1,333.5,8,3.0