version: 66.12
glider: 401
mission: 20
dive: 119
start: 4 30 117 12 51 40
data:
$ID,401
$MISSION,20
$DIVE,119
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,300417,123238,5712.1519,-16515.6270,6,0.8,23,10.9,0.7,162.9,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,6.5
$GPS2,300417,123238,5712.1519,-16515.6270,6,0.8,23,10.9,0.7,162.9,11,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.458,-16456.924
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.345980,0.117487
$KALMAN_X,-6347.720703,1884.455322,1097.031494,33200.179688,-62.131226
$KALMAN_Y,8802.620117,190.721008,-362.760254,-13120.349609,-269.831635
$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,-439.9,2344,2033,2369,4094,0.0,0.0,0,33,0.00,0.00,-3.33,0.000,16390,0.000,0.000,2345,2034,2692,2692,4094,0,0,0,0,0,0,25.94,24.51,25.94,10.05,35.50
$GC,35,-1.72,-439.9,2344,2033,2692,4094,-0.1,0.0,1,50,5.15,4.15,0.00,0.000,4612,0.159,0.281,1880,614,2692,2692,4094,0,0,0,0,0,0,25.37,25.26,25.41,10.12,34.95
$GC,90,-1.72,-439.9,1879,614,2692,4094,1.8,-2.9,5,104,0.00,3.78,0.00,0.000,1030,0.000,0.137,1880,2030,2694,2694,4094,0,0,0,0,0,0,25.51,25.50,25.55,10.12,35.03
$GC,167,-1.72,-439.9,1879,2030,2694,4095,10.1,-10.5,11,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2030,2694,2694,4095,0,0,0,0,0,0,25.89,25.91,25.90,10.12,35.15
$GC,243,-1.72,-439.9,1879,2030,2695,4095,17.8,-10.3,17,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2030,2696,2696,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.12,34.76
$GC,320,-1.72,-439.9,1879,2030,2697,4094,26.2,-10.9,23,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2030,2697,2697,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.12,34.99
$GC,396,-1.72,-439.9,1879,2030,2698,4095,34.4,-10.6,29,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2030,2699,2699,4095,0,0,0,0,0,0,26.12,26.14,26.13,10.11,35.46
$GC,472,-1.72,-439.9,1880,2030,2700,4094,42.5,-11.3,35,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2030,2700,2700,4095,0,0,0,0,0,0,26.18,26.19,26.19,10.11,34.60
$GC,551,-1.72,-439.9,1880,2030,2701,4094,50.7,-11.0,41,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2030,2702,2702,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.11,34.99
$STATE,627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,627,begin apogee
$GC,630,-0.45,0.0,1879,2030,2703,4094,59.1,-10.9,47,677,4.18,0.00,26.67,4.373,10244,0.219,0.000,2254,2030,2173,2173,4094,0,0,0,0,0,0,25.95,24.76,23.97,10.11,34.72
$STATE,678,end apogee,CONTROL_FINISHED_OK
$STATE,678,begin climb
$GC,679,1.72,439.9,2253,2030,2173,4094,61.8,0.0,50,726,7.53,4.15,26.17,4.306,10500,0.144,0.291,2947,3437,1661,1661,4094,0,0,0,0,0,0,25.29,25.18,23.58,10.00,34.83
$GC,742,1.72,439.9,2947,3437,1661,4094,58.5,8.3,54,757,0.00,3.85,0.00,0.000,1030,0.000,0.124,2947,2030,1660,1660,4094,0,0,0,0,0,0,25.05,25.01,25.07,9.91,33.97
$GC,819,1.72,439.9,2946,2030,1659,4094,48.9,13.4,60,837,0.00,4.15,0.00,0.000,516,0.000,0.273,2947,602,1658,1658,4094,0,0,0,0,0,0,25.58,25.20,25.60,9.90,33.85
$GC,888,1.72,439.9,2947,602,1656,4094,39.3,14.0,65,902,0.00,3.78,0.00,0.000,1030,0.000,0.137,2947,2016,1656,1656,4094,0,0,0,0,0,0,25.48,25.44,25.52,9.90,34.52
$GC,965,1.72,439.9,2947,2016,1654,4094,28.6,14.1,71,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2016,1654,1654,4094,0,0,0,0,0,0,25.86,25.87,25.86,9.90,34.09
$GC,1041,1.72,439.9,2946,2016,1652,4094,18.6,12.8,77,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2016,1651,1651,4095,0,0,0,0,0,0,25.95,25.96,25.96,9.90,34.09
$GC,1118,1.72,439.9,2947,2017,1649,4094,8.1,13.8,83,1132,0.00,4.12,0.00,0.000,260,0.000,0.286,2947,3436,1649,1649,4094,0,0,0,0,0,0,26.03,25.58,26.04,9.90,34.76
$GC,1149,1.72,439.9,2947,3435,1648,4094,4.2,13.1,85,1167,0.00,3.88,0.00,0.000,1030,0.000,0.139,2947,1990,1648,1648,4094,0,0,0,0,0,0,25.77,25.72,25.81,9.91,34.44
$STATE,1181,end climb,SURFACE_DEPTH_REACHED
$STATE,1181,begin surface coast
$FINISH,-0.0,1.025211
$STATE,1208,end surface coast,CONTROL_FINISHED_OK
$STATE,1208,begin surface
$SM_CCo,1305,0.00,0.000,0,0,1648,452.48
$SM_GC,0.88,28.70,0.10,0.00,0.102,0.298,0.000,243,2040,1648,-6.77,-1.14,452.48,0,0,0,0,0,0,25.80,25.86,25.87
$IRIDIUM_FIX,5554.28,-16557.83,300417,114103
$TT8_MAMPS,0.026964,0.261401
$HUMID,34.60
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,8.4
$24V_AH,23.58,13.594
$10V_AH,8.77,10.364
$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,45.550,35.700,52.850,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,301.293,60.442,135.144,841.564,24.088,33.409,429.144,0.000,854.704,0.000,5.446,0.000
$DEVICE_MAMPS,218.504,297.960,4372.563,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,60.705,114.149,191.391,474.863,828.345,0.000,0.000,0.000,0.000,0.000
$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,7436,89
$CAP_FILE_SIZE,24064,4
$CFSIZE,1024409600,1012662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,131431,5711.741,-16515.217,3,0.9,33,10.9,1.1,132.6,10,4.5