version: 66.12
glider: 401
mission: 20
dive: 103
start: 4 30 117 6 46 26
data:
$ID,401
$MISSION,20
$DIVE,103
$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,13
$R_STBD_OVSHOOT,16
$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
$GPS1,300417,062623,5713.8833,-16525.3340,5,0.8,38,10.9,0.7,227.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-2.8
$GPS2,300417,062623,5713.8833,-16525.3340,5,0.8,38,10.9,0.7,227.7,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.190,-16506.615
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.126377,-0.342855
$KALMAN_X,-7999.912598,52.156666,-121.800362,28188.998047,229.500504
$KALMAN_Y,8339.902344,548.656921,555.552551,-10722.371094,272.244202
$MHEAD_RNG_PITCHd_Wd,99.1,20000,-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,-439.9,2345,2031,2368,4094,0.0,0.0,0,34,0.00,0.00,-3.30,0.000,16390,0.000,0.000,2345,2033,2692,2692,4094,0,0,0,0,0,0,26.17,25.32,26.17,10.05,34.99
$GC,35,-1.72,-439.9,2345,2033,2692,4095,-0.1,0.0,1,54,5.10,4.07,0.00,0.000,4612,0.159,0.261,1880,604,2691,2691,4095,0,0,0,0,0,0,25.57,25.44,25.60,10.12,35.23
$GC,70,-1.72,-439.9,1880,604,2692,4094,0.8,-2.4,3,84,0.00,3.78,0.00,0.000,1030,0.000,0.146,1880,2028,2692,2692,4094,0,0,0,0,0,0,25.65,25.62,25.68,10.12,35.58
$GC,148,-1.72,-439.9,1880,2028,2694,4094,8.6,-8.4,9,163,0.00,4.15,0.00,0.000,260,0.000,0.313,1880,3431,2693,2693,4095,0,0,0,0,0,0,26.01,25.57,26.01,10.13,35.03
$GC,191,-1.72,-439.9,1879,3432,2694,4094,12.8,-9.6,12,209,0.00,3.78,0.00,0.000,1030,0.000,0.137,1880,2015,2694,2694,4095,0,0,0,0,0,0,25.78,25.74,25.81,10.12,35.11
$GC,275,-1.72,-439.9,1879,2015,2696,4094,21.8,-11.5,18,291,0.00,3.97,0.00,0.000,516,0.000,0.268,1880,611,2696,2696,4095,0,0,0,0,0,0,26.12,25.66,26.13,10.12,34.91
$GC,318,-1.72,-439.9,1879,611,2697,4094,26.7,-11.5,21,337,0.00,3.70,0.00,0.000,1030,0.000,0.146,1880,2013,2697,2697,4094,0,0,0,0,0,0,25.86,25.82,25.90,10.13,34.72
$GC,403,-1.72,-439.9,1879,2013,2698,4094,35.4,-9.6,27,418,0.00,4.15,0.00,0.000,260,0.000,0.308,1880,3437,2698,2698,4094,0,0,0,0,0,0,26.20,25.71,26.21,10.12,35.15
$GC,446,-1.72,-439.9,1879,3437,2699,4094,40.1,-10.6,30,464,0.00,3.70,0.00,0.000,1030,0.000,0.132,1880,2033,2699,2699,4094,0,0,0,0,0,0,25.99,25.94,25.98,10.12,34.72
$GC,530,-1.72,-439.9,1879,2034,2700,4094,48.8,-10.1,36,551,0.00,4.00,0.00,0.000,516,0.000,0.268,1881,610,2701,2701,4094,0,0,0,0,0,0,26.26,25.82,26.28,10.11,34.56
$GC,566,-1.72,-439.9,1879,609,2701,4094,52.8,-10.7,38,581,0.00,3.70,0.00,0.000,1030,0.000,0.144,1880,2022,2702,2702,4094,0,0,0,0,0,0,26.01,25.95,26.03,10.11,34.36
$STATE,618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,619,begin apogee
$GC,622,-0.45,0.0,1880,2023,2702,4094,58.6,-10.6,42,659,4.20,0.00,26.40,4.335,10244,0.221,0.000,2256,2023,2173,2173,4094,0,0,0,0,0,0,25.99,25.10,24.01,10.12,34.36
$STATE,660,end apogee,CONTROL_FINISHED_OK
$STATE,660,begin climb
$GC,662,1.72,439.9,2256,2024,2172,4094,60.9,0.0,44,708,7.50,0.00,26.23,4.251,11270,0.139,0.000,2943,2024,1659,1659,4094,0,0,0,0,0,0,25.37,25.56,23.60,10.00,34.48
$GC,770,1.72,439.9,2943,2023,1657,4094,51.7,12.5,52,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2024,1657,1657,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.91,34.24
$GC,850,1.72,439.9,2943,2024,1656,4095,41.4,13.0,58,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2024,1655,1655,4094,0,0,0,0,0,0,25.73,25.75,25.75,9.90,33.77
$GC,931,1.72,439.9,2943,2024,1653,4094,30.9,13.0,64,945,0.00,4.12,0.00,0.000,260,0.000,0.283,2943,3435,1653,1653,4094,0,0,0,0,0,0,25.86,25.44,25.88,9.90,34.05
$GC,996,1.72,439.9,2943,3435,1651,4094,21.5,14.7,69,1011,0.00,3.72,0.00,0.000,1030,0.000,0.129,2944,2042,1651,1651,4094,0,0,0,0,0,0,25.69,25.63,25.72,9.90,34.01
$GC,1073,1.72,439.9,2943,2042,1649,4094,11.3,12.8,75,1088,0.00,4.10,0.00,0.000,516,0.000,0.278,2944,606,1649,1649,4094,0,0,0,0,0,0,26.03,25.59,26.03,9.91,35.07
$GC,1115,1.72,439.9,2943,606,1648,4094,5.4,13.8,78,1130,0.00,3.78,0.00,0.000,1030,0.000,0.146,2944,2031,1647,1647,4094,0,0,0,0,0,0,25.78,25.72,25.82,9.91,34.80
$STATE,1144,end climb,SURFACE_DEPTH_REACHED
$STATE,1144,begin surface coast
$FINISH,-0.0,1.025307
$STATE,1172,end surface coast,CONTROL_FINISHED_OK
$STATE,1172,begin surface
$SM_CCo,1267,0.00,0.000,0,0,1646,454.20
$SM_GC,0.87,28.98,0.00,0.00,0.114,0.000,0.000,231,2036,1646,-6.81,0.36,454.20,0,0,0,0,0,0,25.53,26.11,25.77
$IRIDIUM_FIX,5744.64,-16600.79,300417,053741
$TT8_MAMPS,0.026215,0.26215
$HUMID,34.80
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,9.5
$24V_AH,23.60,12.375
$10V_AH,8.79,9.898
$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,45.775,54.725,52.625,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,291.801,59.799,147.847,795.875,24.553,33.411,450.409,0.000,808.467,0.000,5.439,0.000
$DEVICE_MAMPS,220.987,312.858,4335.318,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.687,105.102,176.361,456.429,783.762,0.000,0.000,0.000,0.000,0.000
$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,7338,82
$CAP_FILE_SIZE,26279,12
$CFSIZE,1024409600,1013448704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,070831,5714.082,-16523.961,4,0.8,25,10.9,0.8,348.4,11,4.3