version: 66.12
glider: 401
mission: 20
dive: 107
start: 4 30 117 8 17 39
data:
$ID,401
$MISSION,20
$DIVE,107
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,300417,075731,5714.2007,-16522.3828,5,0.9,15,10.9,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.3
$GPS2,300417,075731,5714.2007,-16522.3828,5,0.9,15,10.9,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.507,-16503.662
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.194354,-0.309506
$KALMAN_X,-7058.171387,657.108398,606.390381,28866.783203,283.924988
$KALMAN_Y,9776.196289,940.156616,786.803833,-12201.638672,182.845337
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,2335,2033,2366,4094,0.0,0.0,0,36,0.00,0.00,-3.10,0.000,16390,0.000,0.000,2335,2033,2693,2693,4094,0,0,0,0,0,0,26.16,24.82,26.15,10.05,35.78
$GC,38,-1.72,-439.9,2334,2033,2693,4094,0.3,0.0,1,53,5.12,0.00,0.00,0.000,4102,0.154,0.000,1866,2033,2693,2693,4094,0,0,0,0,0,0,25.50,25.56,25.53,10.12,35.62
$GC,116,-1.72,-439.9,1866,2033,2694,4094,9.2,-12.0,7,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2033,2695,2695,4094,0,0,0,0,0,0,25.91,25.92,25.91,10.12,35.50
$GC,193,-1.72,-439.9,1866,2033,2696,4094,18.3,-12.1,13,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2032,2696,2696,4095,0,0,0,0,0,0,26.01,26.02,26.01,10.12,34.91
$GC,270,-1.72,-439.9,1866,2031,2698,4095,28.1,-11.7,19,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2031,2698,2698,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.12,34.99
$GC,346,-1.72,-439.9,1866,2031,2699,4094,35.9,-9.8,25,364,0.00,4.12,0.00,0.000,260,0.000,0.303,1866,3439,2699,2699,4095,0,0,0,0,0,0,26.15,25.67,26.16,10.11,34.95
$GC,381,-1.72,-439.9,1866,3439,2699,4095,39.4,-10.0,27,395,0.00,3.75,0.00,0.000,1030,0.000,0.134,1866,2024,2700,2700,4094,0,0,0,0,0,0,25.89,25.83,25.94,10.12,35.23
$GC,460,-1.72,-439.9,1866,2024,2701,4094,48.1,-11.0,33,474,0.00,4.00,0.00,0.000,516,0.000,0.268,1866,606,2702,2702,4094,0,0,0,0,0,0,26.21,25.76,26.22,10.11,35.11
$GC,508,-1.72,-439.9,1866,606,2702,4095,54.2,-12.5,36,526,0.00,3.70,0.00,0.000,1030,0.000,0.146,1866,2014,2702,2702,4094,0,0,0,0,0,0,25.95,25.91,25.99,10.12,34.76
$STATE,552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,552,begin apogee
$GC,556,-0.45,0.0,1866,2013,2703,4094,59.2,-11.1,39,600,4.30,0.00,26.75,4.363,10244,0.226,0.000,2251,2013,2174,2174,4094,0,0,0,0,0,0,25.94,24.75,23.96,10.12,34.44
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,602,1.72,439.9,2251,2013,2174,4094,61.9,0.0,42,649,7.62,4.10,26.45,4.310,10756,0.166,0.273,2945,607,1660,1660,4094,0,0,0,0,0,0,25.27,25.18,23.56,10.01,34.24
$GC,666,1.72,439.9,2945,607,1659,4094,59.5,6.2,46,680,0.00,3.85,0.00,0.000,1030,0.000,0.137,2945,2025,1659,1659,4094,0,0,0,0,0,0,25.06,25.00,25.08,9.91,33.77
$GC,743,1.72,439.9,2945,2025,1657,4094,49.3,13.5,52,758,0.00,4.20,0.00,0.000,260,0.000,0.291,2945,3439,1657,1657,4094,0,0,0,0,0,0,25.59,25.18,25.60,9.91,34.48
$GC,786,1.72,439.9,2945,3439,1656,4094,43.1,14.1,55,801,0.00,3.80,0.00,0.000,1030,0.000,0.132,2946,2032,1656,1656,4094,0,0,0,0,0,0,25.44,25.39,25.47,9.90,33.81
$GC,863,1.72,439.9,2945,2032,1654,4094,32.3,13.5,61,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2032,1653,1653,4094,0,0,0,0,0,0,25.82,25.84,25.84,9.90,34.44
$GC,944,1.72,439.9,2945,2032,1651,4094,21.4,13.2,67,962,0.00,4.12,0.00,0.000,260,0.000,0.288,2946,3440,1651,1651,4094,0,0,1,0,0,0,25.94,25.50,25.94,9.91,34.28
$GC,991,1.72,439.9,2945,3440,1650,4094,14.8,14.0,70,1009,0.00,3.67,0.00,0.000,1030,0.000,0.124,2946,2058,1649,1649,4094,0,0,0,0,0,0,25.72,25.67,25.75,9.91,34.95
$GC,1074,1.72,439.9,2945,2059,1648,4094,4.7,11.7,76,1090,0.00,4.12,0.00,0.000,516,0.000,0.276,2945,608,1647,1647,4094,0,0,0,0,0,0,26.06,25.64,26.07,9.91,34.44
$STATE,1105,end climb,SURFACE_DEPTH_REACHED
$STATE,1105,begin surface coast
$FINISH,0.0,1.025316
$STATE,1120,end surface coast,CONTROL_FINISHED_OK
$STATE,1120,begin surface
$SM_CCo,1219,0.00,0.000,0,0,1646,454.20
$SM_GC,0.81,28.88,3.78,0.00,0.107,0.151,0.000,232,2024,1646,-6.81,-0.91,454.20,0,0,1,0,0,0,25.47,25.77,25.74
$IRIDIUM_FIX,5744.64,-16600.79,300417,070933
$TT8_MAMPS,0.026215,0.248668
$HUMID,34.40
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.0,9.9
$24V_AH,23.56,12.671
$10V_AH,8.81,10.013
$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,45.925,47.225,53.200,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,280.220,59.638,142.985,766.458,23.432,33.410,435.787,0.000,778.919,0.000,5.452,0.000
$DEVICE_MAMPS,225.953,302.926,4362.631,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.546,101.213,169.882,441.607,754.359,0.000,0.000,0.000,0.000,0.000
$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,7307,79
$CAP_FILE_SIZE,24132,9
$CFSIZE,1024409600,1013252096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300417,083853,5714.132,-16520.873,4,0.8,22,10.9,0.6,3.8,10,5.0