version: 66.12
glider: 401
mission: 20
dive: 113
start: 4 30 117 10 32 54
data:
$ID,401
$MISSION,20
$DIVE,113
$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,23
$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
$GPS1,300417,101346,5713.5542,-16518.0215,5,0.8,18,10.9,1.4,143.5,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.4
$GPS2,300417,101346,5713.5542,-16518.0215,5,0.8,18,10.9,1.4,143.5,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.861,-16459.307
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.355505,-0.084751
$KALMAN_X,-6271.794922,1567.644409,1293.931641,30854.261719,105.151245
$KALMAN_Y,10404.417969,900.167236,429.388031,-13630.102539,-92.249817
$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,-439.9,2344,2027,2370,4094,0.0,0.0,0,33,0.00,0.00,-3.08,0.000,16390,0.000,0.000,2344,2028,2692,2692,4094,0,0,0,0,0,0,26.15,24.65,26.14,10.05,35.19
$GC,35,-1.72,-439.9,2344,2028,2692,4095,0.2,0.0,1,53,5.10,0.00,0.00,0.000,4102,0.117,0.000,1867,2028,2692,2692,4095,0,0,0,0,0,0,25.57,25.63,25.60,10.12,35.27
$GC,119,-1.72,-439.9,1867,2028,2693,4094,7.2,-8.9,7,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2028,2693,2693,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.12,34.99
$GC,196,-1.72,-439.9,1867,2029,2694,4094,15.0,-10.1,13,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2028,2695,2695,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.12,34.91
$GC,273,-1.72,-439.9,1867,2028,2696,4095,24.7,-13.2,19,288,0.00,4.00,0.00,0.000,516,0.000,0.263,1867,616,2696,2696,4095,0,0,0,0,0,0,26.11,25.68,26.13,10.12,34.87
$GC,305,-1.72,-439.9,1867,616,2697,4094,28.1,-11.8,21,319,0.00,3.70,0.00,0.000,1030,0.000,0.142,1868,2021,2697,2697,4094,0,0,0,0,0,0,25.86,25.81,25.89,10.12,35.74
$GC,382,-1.72,-439.9,1867,2021,2698,4094,37.0,-10.9,27,396,0.00,4.18,0.00,0.000,260,0.000,0.313,1867,3448,2698,2698,4094,0,0,0,0,0,0,26.19,25.72,26.20,10.12,35.19
$GC,435,-1.72,-439.9,1867,3448,2699,4094,42.6,-10.4,31,450,0.00,3.70,0.00,0.000,1030,0.000,0.132,1867,2045,2700,2700,4095,0,0,0,0,0,0,25.95,25.92,25.98,10.11,34.76
$GC,515,-1.72,-439.9,1867,2045,2701,4095,51.1,-11.1,37,533,0.00,4.03,0.00,0.000,516,0.000,0.263,1867,610,2702,2702,4095,0,0,0,0,0,0,26.23,25.81,26.25,10.11,34.72
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,578,-0.45,0.0,1867,2040,2702,4094,59.0,-13.2,41,626,4.35,0.00,26.67,4.390,10244,0.219,0.000,2257,2040,2174,2174,4095,0,0,0,0,0,0,25.96,24.76,23.97,10.11,34.32
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,628,1.72,439.9,2257,2040,2174,4094,62.3,0.0,44,679,7.57,4.15,26.10,4.298,10756,0.159,0.268,2946,610,1663,1663,4094,0,0,0,0,0,0,25.30,25.20,23.58,10.00,34.60
$GC,696,1.72,439.9,2946,610,1662,4094,58.4,8.5,48,714,0.00,3.85,0.00,0.000,1030,0.000,0.134,2946,2029,1662,1662,4094,0,0,0,0,0,0,25.06,25.03,25.11,9.91,33.77
$GC,780,1.72,439.9,2946,2029,1662,4094,47.7,12.9,54,796,0.00,4.12,0.00,0.000,260,0.000,0.281,2947,3434,1660,1660,4094,0,0,1,0,0,0,25.63,25.21,25.63,9.90,33.61
$GC,811,1.72,439.9,2946,3434,1659,4094,43.1,13.8,56,827,0.00,3.78,0.03,0.022,9222,0.000,0.129,2946,2035,1659,1659,4094,0,0,0,0,0,0,25.45,25.42,25.48,9.90,33.81
$GC,890,1.72,439.9,2946,2035,1657,4094,32.7,12.7,62,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2035,1657,1657,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.90,33.89
$GC,966,1.72,439.9,2946,2035,1655,4094,22.8,12.5,68,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2034,1655,1655,4094,0,0,0,0,0,0,25.94,25.95,25.94,9.90,34.20
$GC,1042,1.72,439.9,2946,2034,1653,4094,12.4,14.2,74,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2035,1653,1653,4094,0,0,0,0,0,0,26.01,26.03,26.03,9.91,34.60
$GC,1118,1.72,439.9,2946,2035,1651,4094,3.8,11.5,80,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2034,1650,1650,4094,0,0,0,0,0,0,26.08,26.10,26.10,9.91,35.31
$STATE,1151,end climb,SURFACE_DEPTH_REACHED
$STATE,1151,begin surface coast
$FINISH,0.1,1.025282
$STATE,1179,end surface coast,CONTROL_FINISHED_OK
$STATE,1179,begin surface
$SM_CCo,1274,0.00,0.000,0,0,1650,450.77
$SM_GC,0.99,28.88,0.00,0.00,0.109,0.000,0.000,232,2029,1650,-6.81,0.23,450.77,0,0,0,0,0,0,25.47,26.15,25.77
$IRIDIUM_FIX,5744.64,-16600.79,300417,092606
$TT8_MAMPS,0.026964,0.258405
$HUMID,34.48
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.58,13.131
$10V_AH,8.79,10.187
$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,45.900,39.275,52.800,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,290.524,59.689,143.337,809.389,24.277,33.413,440.660,0.000,822.443,0.000,5.446,0.000
$DEVICE_MAMPS,218.504,312.858,4389.944,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,57.124,107.677,180.633,465.732,797.335,0.000,0.000,0.000,0.000,0.000
$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,7406,84
$CAP_FILE_SIZE,24634,10
$CFSIZE,1024409600,1012957184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300417,105502,5713.111,-16516.910,4,0.8,21,10.9,0.0,7.8,11,4.9