version: 66.12
glider: 401
mission: 20
dive: 111
start: 4 30 117 9 49 17
data:
$ID,401
$MISSION,20
$DIVE,111
$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,28
$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
$GPS1,300417,092959,5713.9038,-16519.3047,5,0.8,15,10.9,0.7,245.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-7.0
$GPS2,300417,092959,5713.9038,-16519.3047,5,0.8,15,10.9,0.7,245.8,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.210,-16500.586
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.319040,-0.178122
$KALMAN_X,-6368.345703,1306.469971,1157.005005,30063.771484,201.964111
$KALMAN_Y,10468.361328,1008.610168,633.162903,-13359.056641,0.487244
$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,15,-1.72,-439.9,2346,2038,2370,4094,0.0,0.0,0,32,0.00,0.00,-1.75,0.000,16390,0.000,0.000,2346,2038,2696,2696,4095,0,0,0,0,0,0,25.89,24.47,25.86,10.05,35.50
$GC,34,-1.72,-439.9,2346,2038,2696,4095,3.7,0.0,1,52,5.30,0.00,0.00,0.000,4102,0.154,0.000,1866,2039,2696,2696,4094,0,0,0,0,0,0,25.34,25.40,25.38,10.12,35.15
$GC,115,-1.72,-439.9,1865,2039,2697,4094,11.9,-9.2,7,130,0.00,4.12,0.00,0.000,516,0.000,0.268,1866,611,2697,2697,4094,0,0,0,0,0,0,25.79,25.35,25.79,10.12,35.66
$GC,146,-1.72,-439.9,1865,611,2698,4094,15.0,-9.4,9,161,0.00,3.70,0.00,0.000,1030,0.000,0.144,1866,1998,2698,2698,4094,0,0,0,0,0,0,25.58,25.53,25.60,10.12,35.50
$GC,223,-1.72,-439.9,1865,1998,2699,4094,24.0,-11.6,15,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1998,2699,2699,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.12,35.19
$GC,300,-1.72,-439.9,1865,1998,2700,4094,32.3,-10.3,21,318,0.00,4.25,0.00,0.000,260,0.000,0.315,1866,3437,2701,2701,4094,0,0,0,0,0,0,26.02,25.56,26.03,10.12,34.95
$GC,357,-1.72,-439.9,1865,3437,2702,4094,38.9,-11.6,25,372,0.00,3.75,0.00,0.000,1030,0.000,0.129,1866,2023,2702,2702,4095,0,0,0,0,0,0,25.82,25.77,25.84,10.11,35.35
$GC,435,-1.72,-439.9,1865,2023,2703,4095,47.2,-10.5,31,450,0.00,3.97,0.00,0.000,516,0.000,0.261,1866,612,2704,2704,4094,0,0,0,0,0,0,26.13,25.70,26.14,10.11,34.80
$GC,482,-1.72,-439.9,1865,612,2704,4094,52.5,-11.1,34,497,0.00,3.67,0.00,0.000,1030,0.000,0.144,1866,2009,2705,2705,4094,0,0,0,0,0,0,25.89,25.83,25.92,10.11,34.68
$STATE,536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,536,begin apogee
$GC,540,-0.45,0.0,1866,2009,2705,4094,58.7,-11.3,38,577,4.38,0.00,26.60,4.333,10244,0.226,0.000,2254,2009,2174,2174,4094,0,0,0,0,0,0,25.88,25.00,23.91,10.11,34.60
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,578,begin climb
$GC,579,1.72,439.9,2255,2009,2174,4094,60.9,0.0,40,631,7.60,4.07,26.08,4.273,10756,0.164,0.266,2946,610,1665,1665,4094,0,0,0,0,0,0,25.19,25.10,23.52,10.00,34.44
$GC,660,1.91,556.4,2945,610,1665,4094,56.7,7.9,45,676,0.57,3.83,8.52,3.397,11270,0.119,0.134,3000,2024,1524,1524,4094,0,0,0,0,0,0,25.09,25.06,23.75,9.91,33.73
$GC,739,1.91,556.4,3000,2024,1522,4094,45.2,15.9,51,753,0.00,4.20,0.00,0.000,260,0.000,0.286,3000,3438,1522,1522,4094,0,0,0,0,0,0,25.50,25.09,25.51,9.87,34.36
$GC,781,1.91,556.4,3000,3438,1521,4094,37.9,16.5,54,795,0.00,3.85,0.00,0.000,1030,0.000,0.127,3001,2012,1520,1520,4094,0,0,0,0,0,0,25.37,25.32,25.40,9.88,34.32
$GC,857,1.91,556.4,3000,2011,1518,4094,25.9,14.9,60,871,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2012,1517,1517,4094,0,0,0,0,0,0,25.75,25.77,25.77,9.87,34.20
$GC,935,1.91,556.4,3000,2011,1516,4094,14.4,15.0,66,953,0.00,4.20,0.00,0.000,260,0.000,0.291,3001,3443,1515,1515,4094,0,0,1,0,0,0,25.86,25.43,25.88,9.88,34.95
$GC,970,1.91,556.4,3000,3443,1514,4095,8.8,15.8,68,984,0.00,3.70,0.00,0.000,1030,0.000,0.124,3001,2056,1514,1514,4094,0,0,0,0,0,0,25.65,25.64,25.69,9.88,34.60
$STATE,1010,end climb,SURFACE_DEPTH_REACHED
$STATE,1010,begin surface coast
$FINISH,0.3,1.025319
$STATE,1026,end surface coast,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$SM_CCo,1123,0.00,0.000,0,0,1512,568.39
$SM_GC,0.87,29.58,0.10,0.00,0.104,0.320,0.000,232,2006,1512,-6.81,0.50,568.39,0,0,0,0,0,0,25.34,25.72,25.63
$IRIDIUM_FIX,5744.64,-16600.79,300417,083957
$TT8_MAMPS,0.026964,0.245672
$HUMID,34.36
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.5
$24V_AH,23.52,12.983
$10V_AH,8.83,10.128
$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,47.425,51.175,61.200,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,272.360,59.912,135.871,690.069,22.474,33.410,403.419,0.000,702.191,0.000,5.451,0.000
$DEVICE_MAMPS,225.953,320.307,4332.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.854,92.254,154.842,395.361,678.325,0.000,0.000,0.000,0.000,0.000
$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,7392,72
$CAP_FILE_SIZE,24295,7
$CFSIZE,1024409600,1013055488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300417,100847,5713.583,-16518.086,4,0.8,14,10.9,0.7,123.1,10,4.8