version: 66.12
glider: 401
mission: 20
dive: 99
start: 4 30 117 5 16 36
data:
$ID,401
$MISSION,20
$DIVE,99
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,300417,045650,5713.2715,-16527.2266,5,0.9,14,10.8,1.2,335.5,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,2.8
$GPS2,300417,045650,5713.2715,-16527.2266,5,0.9,14,10.8,1.2,335.5,9,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.578,-16508.514
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164064,-0.326595
$KALMAN_X,-8499.016602,-173.488861,-645.378296,27528.242188,23.320801
$KALMAN_Y,6852.449219,79.388412,70.413422,-9418.994141,311.595032
$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,15,-1.72,-439.9,2347,2039,2368,4094,0.0,0.0,0,19,0.00,0.00,-1.50,0.000,16390,0.000,0.000,2347,2039,2696,2696,4094,0,0,0,0,0,0,25.94,24.51,25.91,10.05,35.23
$GC,21,-1.72,-439.9,2347,2039,2696,4094,0.0,0.0,0,36,5.43,4.05,0.00,0.000,4356,0.223,0.291,1868,3434,2696,2696,4095,0,0,0,0,0,0,25.65,25.51,25.69,10.13,35.19
$GC,74,-1.72,-439.9,1867,3434,2697,4094,10.0,-10.9,4,89,0.00,3.72,0.00,0.000,1030,0.000,0.134,1868,2038,2697,2697,4094,0,0,0,0,0,0,25.75,25.70,25.77,10.13,35.74
$GC,153,-1.72,-439.9,1867,2037,2699,4094,17.4,-9.6,10,171,0.00,4.05,0.00,0.000,516,0.000,0.268,1867,609,2699,2699,4095,0,0,0,0,0,0,26.07,25.62,26.08,10.12,34.95
$GC,199,-1.72,-439.9,1867,608,2700,4094,23.7,-13.2,13,218,0.00,3.67,0.00,0.000,1030,0.000,0.144,1868,2002,2700,2700,4095,0,0,0,0,0,0,25.84,25.82,25.86,10.12,35.62
$GC,283,-1.72,-439.9,1867,2002,2701,4095,33.1,-10.3,19,299,0.00,4.20,0.00,0.000,260,0.000,0.308,1868,3439,2702,2702,4094,0,0,0,0,0,0,26.16,25.70,26.17,10.12,35.23
$GC,326,-1.72,-439.9,1867,3439,2702,4094,37.6,-10.5,22,345,0.00,3.75,0.00,0.000,1030,0.000,0.137,1868,2024,2702,2702,4094,0,0,0,0,0,0,25.94,25.89,25.95,10.12,35.07
$GC,410,-1.72,-439.9,1867,2024,2704,4095,46.9,-11.1,28,426,0.00,4.00,0.00,0.000,516,0.000,0.271,1868,606,2704,2704,4095,0,0,0,0,0,0,26.23,25.78,26.24,10.12,35.35
$GC,444,-1.72,-439.9,1867,606,2704,4094,50.6,-11.5,30,463,0.00,3.70,0.00,0.000,1030,0.000,0.146,1868,2015,2705,2705,4094,0,0,0,0,0,0,25.96,25.92,26.01,10.12,34.64
$STATE,515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,515,begin apogee
$GC,518,-0.45,0.0,1867,2015,2706,4094,59.2,-11.1,35,553,4.35,0.00,26.70,4.363,10244,0.221,0.000,2257,2015,2174,2174,4094,0,0,0,0,0,0,25.96,25.07,23.98,10.12,34.64
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,555,1.72,439.9,2257,2015,2175,4094,61.7,0.0,37,599,7.57,4.10,26.30,4.283,10756,0.161,0.271,2945,607,1661,1661,4094,0,0,0,0,0,0,25.25,25.15,23.56,10.00,34.44
$GC,626,1.79,480.4,2944,607,1660,4094,57.2,9.1,42,646,0.15,3.83,3.97,2.250,11270,0.161,0.134,2965,2019,1617,1617,4094,0,0,0,0,0,0,25.09,25.05,23.82,9.91,33.85
$GC,709,1.79,480.4,2964,2019,1615,4094,46.2,13.7,48,727,0.00,4.18,0.00,0.000,260,0.000,0.283,2965,3435,1615,1615,4094,0,0,0,0,0,0,25.60,25.18,25.60,9.90,33.85
$GC,766,1.79,480.4,2965,3435,1613,4094,37.1,16.0,52,781,0.00,3.80,0.00,0.000,1030,0.000,0.132,2965,2027,1612,1612,4094,0,0,0,0,0,0,25.47,25.44,25.51,9.89,33.93
$GC,844,1.79,480.4,2965,2027,1610,4094,25.0,15.1,58,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2027,1610,1610,4095,0,0,0,0,0,0,25.85,25.86,25.86,9.89,34.17
$GC,925,1.79,480.4,2965,2022,1608,4094,13.6,14.0,64,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2022,1608,1608,4095,0,0,0,0,0,0,25.95,25.96,25.96,9.90,34.76
$GC,1005,1.79,480.4,2964,2024,1605,4094,3.8,14.1,70,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2022,1605,1605,4094,0,0,0,0,0,0,26.03,26.05,26.05,9.90,35.39
$STATE,1034,end climb,SURFACE_DEPTH_REACHED
$STATE,1034,begin surface coast
$FINISH,0.3,1.025302
$STATE,1062,end surface coast,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$SM_CCo,1157,0.00,0.000,0,0,1605,490.26
$SM_GC,0.76,29.15,0.00,0.00,0.109,0.000,0.000,232,2021,1605,-6.81,-0.18,490.26,0,0,0,0,0,0,25.47,26.10,25.75
$IRIDIUM_FIX,5744.64,-16600.79,300417,040832
$TT8_MAMPS,0.026964,0.250915
$HUMID,34.83
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.8
$24V_AH,23.56,12.079
$10V_AH,8.83,9.780
$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,46.650,50.775,56.975,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,272.678,59.809,136.410,723.114,22.463,33.415,402.454,0.000,736.018,0.000,5.450,0.000
$DEVICE_MAMPS,223.470,307.892,4362.631,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.358,94.879,159.134,417.850,712.383,0.000,0.000,0.000,0.000,0.000
$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,7496,74
$CAP_FILE_SIZE,24614,12
$CFSIZE,1024409600,1013645312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,053641,5713.556,-16526.453,4,0.9,15,10.9,0.0,0.0,9,4.9