version: 66.12
glider: 401
mission: 20
dive: 123
start: 4 30 117 14 23 38
data:
$ID,401
$MISSION,20
$DIVE,123
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,300417,140453,5711.3955,-16515.0605,5,0.9,15,10.9,0.7,156.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-3.7
$GPS2,300417,140453,5711.3955,-16515.0605,5,0.9,15,10.9,0.7,156.3,9,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.702,-16456.363
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.353978,0.090942
$KALMAN_X,-6686.403809,1744.417969,679.235840,34664.152344,-130.324158
$KALMAN_Y,7526.887207,-306.378387,-714.062317,-12396.651367,-216.634888
$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,-439.9,2333,2024,2368,4094,0.0,0.0,0,37,0.00,0.00,-3.35,0.000,16390,0.000,0.000,2333,2025,2692,2692,4094,0,0,0,0,0,0,26.15,24.65,26.15,10.05,35.03
$GC,39,-1.72,-439.9,2333,2025,2692,4095,0.1,0.0,1,57,5.03,0.00,0.00,0.000,4102,0.176,0.000,1881,2025,2692,2692,4095,0,0,0,0,0,0,25.46,25.53,25.51,10.11,35.35
$GC,120,-1.72,-439.9,1880,2025,2694,4095,7.8,-9.9,7,135,0.00,4.05,0.00,0.000,516,0.000,0.258,1881,604,2694,2694,4095,0,0,0,0,0,0,25.90,25.48,25.91,10.12,34.83
$GC,163,-1.72,-439.9,1880,604,2694,4095,13.0,-11.8,10,178,0.00,3.78,0.00,0.000,1030,0.000,0.142,1881,2027,2695,2695,4094,0,0,0,0,0,0,25.68,25.64,25.72,10.12,35.31
$GC,241,-1.72,-439.9,1880,2027,2696,4095,21.5,-11.0,16,256,0.00,4.15,0.00,0.000,260,0.000,0.308,1880,3438,2696,2696,4094,0,0,0,0,0,0,26.03,25.57,26.05,10.12,34.99
$GC,271,-1.72,-439.9,1880,3439,2696,4094,24.8,-10.9,18,290,0.00,3.75,0.00,0.000,1030,0.000,0.129,1880,2025,2697,2697,4094,0,0,0,0,0,0,25.84,25.76,25.83,10.11,35.23
$GC,355,-1.72,-439.9,1880,2026,2698,4094,33.8,-10.5,24,371,0.00,4.00,0.00,0.000,516,0.000,0.263,1880,609,2698,2698,4094,0,0,0,0,0,0,26.13,25.69,26.13,10.11,34.87
$GC,410,-1.72,-439.9,1880,608,2699,4094,40.1,-11.7,28,425,0.00,3.67,0.00,0.000,1030,0.000,0.142,1880,2008,2700,2700,4094,0,0,0,0,0,0,25.89,25.84,25.93,10.11,34.99
$GC,488,-1.72,-439.9,1880,2008,2701,4095,48.5,-10.3,34,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2008,2701,2701,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.11,34.60
$GC,574,-1.72,-439.9,1880,2008,2702,4095,57.7,-10.6,40,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2008,2703,2703,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.11,34.60
$STATE,605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,605,begin apogee
$GC,608,-0.45,0.0,1880,2008,2703,4095,61.0,-10.7,42,645,4.18,0.00,26.40,4.447,10244,0.211,0.000,2256,2008,2174,2174,4094,0,0,0,0,0,0,25.96,25.15,23.94,10.12,34.56
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,648,1.72,439.9,2256,2009,2174,4094,63.5,0.0,44,694,7.47,0.00,26.38,4.368,11270,0.134,0.000,2941,2009,1662,1662,4094,0,0,0,0,0,0,25.34,25.53,23.53,10.00,34.32
$GC,757,1.72,439.9,2941,2009,1660,4094,54.1,13.1,52,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2009,1660,1660,4094,0,0,0,0,0,0,25.50,25.51,25.51,9.90,33.77
$GC,833,1.72,439.9,2941,2009,1658,4094,44.1,13.2,58,848,0.00,4.05,0.00,0.000,516,0.000,0.266,2941,607,1657,1657,4094,0,0,1,0,0,0,25.70,25.29,25.72,9.90,33.93
$GC,887,1.72,439.9,2941,607,1656,4094,36.5,14.2,62,905,0.00,3.75,0.00,0.000,1030,0.000,0.137,2941,2015,1656,1656,4094,0,0,0,0,0,0,25.55,25.49,25.58,9.90,34.09
$GC,971,1.72,439.9,2941,2014,1654,4094,25.2,13.2,68,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2015,1653,1653,4094,0,0,0,0,0,0,25.91,25.92,25.92,9.90,34.05
$GC,1049,1.72,439.9,2941,2015,1651,4094,15.2,13.1,74,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2015,1651,1651,4094,0,0,0,0,0,0,26.00,26.01,26.01,9.90,34.44
$GC,1126,1.72,439.9,2941,2015,1649,4094,5.5,11.9,80,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2019,1649,1649,4094,0,0,0,0,0,0,26.07,26.08,26.08,9.90,35.03
$STATE,1155,end climb,SURFACE_DEPTH_REACHED
$STATE,1155,begin surface coast
$FINISH,0.0,1.025317
$STATE,1183,end surface coast,CONTROL_FINISHED_OK
$STATE,1183,begin surface
$SM_CCo,1278,0.00,0.000,0,0,1648,452.48
$SM_GC,0.89,28.67,0.00,0.00,0.097,0.000,0.000,231,2020,1648,-6.81,-0.23,452.48,0,0,0,0,0,0,25.48,26.13,25.77
$IRIDIUM_FIX,5554.28,-16557.83,300417,131540
$TT8_MAMPS,0.026964,0.26215
$HUMID,34.44
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,8.4
$24V_AH,23.53,13.897
$10V_AH,8.76,10.481
$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,45.350,31.200,52.775,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,288.450,59.642,139.035,819.247,24.759,33.410,430.851,0.000,832.198,0.000,5.434,0.000
$DEVICE_MAMPS,211.055,307.892,4447.053,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,57.303,107.720,180.639,471.757,807.167,0.000,0.000,0.000,0.000,0.000
$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,7294,84
$CAP_FILE_SIZE,23882,11
$CFSIZE,1024409600,1012465664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300417,144555,5711.242,-16514.826,4,1.0,26,10.9,0.0,23.7,9,5.0