version: 66.12
glider: 401
mission: 20
dive: 127
start: 4 30 117 15 54 46
data:
$ID,401
$MISSION,20
$DIVE,127
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,300417,153632,5711.2466,-16514.7051,5,0.9,17,10.9,0.8,275.1,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,10.9
$GPS2,300417,153632,5711.2466,-16514.7051,5,0.9,17,10.9,0.8,275.1,9,4.5
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.553,-16456.010
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.350039,-0.105162
$KALMAN_X,-7308.544922,1475.640503,281.315948,36309.921875,-143.966888
$KALMAN_Y,7290.394531,-526.301270,-694.244080,-12236.581055,25.396118
$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,-439.9,2345,2004,2370,4094,0.0,0.0,0,20,0.00,0.00,-1.77,0.000,16390,0.000,0.000,2346,2004,2696,2696,4094,0,0,0,0,0,0,26.13,24.63,26.09,10.05,35.11
$GC,21,-1.72,-439.9,2345,2004,2696,4095,0.0,0.0,0,36,5.28,0.00,0.00,0.000,4102,0.189,0.000,1866,2004,2697,2697,4094,0,0,0,0,0,0,25.84,25.90,25.88,10.12,35.27
$GC,98,-1.72,-439.9,1865,2004,2698,4095,10.2,-9.9,6,116,0.00,3.95,0.00,0.000,516,0.000,0.263,1866,606,2698,2698,4094,0,0,0,0,0,0,26.17,25.73,26.17,10.11,34.91
$GC,132,-1.72,-439.9,1865,606,2698,4094,14.5,-12.0,8,146,0.00,3.67,0.00,0.000,1030,0.000,0.142,1866,2005,2698,2698,4094,0,0,0,0,0,0,25.92,25.87,25.95,10.12,35.15
$GC,210,-1.72,-439.9,1866,2006,2700,4094,23.8,-11.7,14,228,0.00,4.18,0.00,0.000,260,0.000,0.313,1866,3437,2700,2700,4094,0,0,1,0,0,0,26.22,25.75,26.24,10.12,35.19
$GC,245,-1.72,-439.9,1865,3437,2701,4094,27.9,-11.8,16,260,0.00,3.75,0.00,0.000,1030,0.000,0.132,1866,2016,2701,2701,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.12,34.95
$GC,322,-1.72,-439.9,1865,2016,2702,4094,36.8,-11.0,22,340,0.00,3.95,0.00,0.000,516,0.000,0.266,1866,608,2703,2703,4094,0,0,0,0,0,0,26.27,25.83,26.29,10.12,34.76
$GC,367,-1.72,-439.9,1865,608,2703,4094,42.2,-11.7,25,382,0.00,3.62,0.00,0.000,1030,0.000,0.144,1866,1994,2704,2704,4094,0,0,0,0,0,0,26.02,25.97,26.06,10.11,34.83
$GC,448,-1.72,-439.9,1865,1994,2705,4094,50.9,-10.9,31,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1994,2704,2704,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.11,34.68
$STATE,512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,512,begin apogee
$GC,516,-0.45,0.0,1865,2035,2706,4094,58.6,-11.6,36,559,4.32,0.00,26.50,4.368,10244,0.219,0.000,2255,2035,2178,2178,4094,0,0,0,0,0,0,26.03,24.83,24.05,10.11,34.48
$STATE,560,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,561,1.72,439.9,2255,2035,2178,4094,61.2,0.0,39,599,7.47,0.00,26.15,4.301,11270,0.137,0.000,2942,2035,1661,1661,4094,0,0,0,0,0,0,25.46,25.64,23.60,10.00,35.15
$GC,662,1.72,439.9,2941,2035,1659,4094,53.1,12.3,46,681,0.00,4.15,0.00,0.000,516,0.000,0.263,2942,607,1659,1659,4094,0,0,1,0,0,0,25.51,25.11,25.52,9.91,34.36
$GC,709,1.72,439.9,2941,607,1658,4094,46.5,14.0,49,727,0.00,3.75,0.00,0.000,1030,0.000,0.134,2942,2009,1657,1657,4094,0,0,0,0,0,0,25.39,25.38,25.44,9.91,34.76
$GC,793,1.72,439.9,2941,2009,1656,4094,34.8,13.7,55,809,0.00,4.20,0.00,0.000,260,0.000,0.288,2942,3440,1655,1655,4094,0,0,0,0,0,0,25.81,25.40,25.82,9.90,34.87
$GC,836,1.72,439.9,2941,3440,1654,4094,28.5,14.7,58,851,0.00,3.80,0.00,0.000,1030,0.000,0.127,2942,2020,1654,1654,4094,0,0,0,0,0,0,25.61,25.57,25.65,9.91,34.83
$GC,913,1.72,439.9,2941,2020,1653,4094,18.2,12.8,64,931,0.00,4.03,0.00,0.000,516,0.000,0.268,2942,608,1651,1651,4094,0,0,0,0,0,0,25.96,25.53,25.97,9.91,34.32
$GC,960,1.72,439.9,2942,608,1650,4094,11.5,14.0,67,974,0.00,3.72,0.00,0.000,1030,0.000,0.134,2942,2021,1650,1650,4094,0,0,0,0,0,0,25.73,25.69,25.81,9.91,34.36
$STATE,1036,end climb,SURFACE_DEPTH_REACHED
$STATE,1037,begin surface coast
$FINISH,0.2,1.025315
$STATE,1063,end surface coast,CONTROL_FINISHED_OK
$STATE,1063,begin surface
$SM_CCo,1159,0.00,0.000,0,0,1648,452.48
$SM_GC,0.84,28.73,0.00,0.00,0.097,0.000,0.000,232,2026,1648,-6.81,0.05,452.48,0,0,0,0,0,0,25.45,26.11,25.75
$IRIDIUM_FIX,5554.28,-16557.83,300417,144700
$TT8_MAMPS,0.026964,0.247919
$HUMID,34.60
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.5
$24V_AH,23.60,14.198
$10V_AH,8.80,10.594
$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,45.800,46.850,52.650,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,276.159,60.219,130.039,721.823,23.819,33.407,393.967,0.000,734.506,0.000,5.446,0.000
$DEVICE_MAMPS,218.504,399.763,4367.597,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.080,96.173,161.287,411.028,710.439,0.000,0.000,0.000,0.000,0.000
$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,7333,75
$CAP_FILE_SIZE,24050,9
$CFSIZE,1024409600,1012269056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300417,161454,5711.330,-16514.365,3,0.7,16,10.9,0.0,0.0,11,4.8