version: 66.12
glider: 401
mission: 20
dive: 131
start: 4 30 117 17 26 6
data:
$ID,401
$MISSION,20
$DIVE,131
$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,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
$GPS1,300417,170656,5711.6055,-16513.9453,5,0.8,25,10.9,0.0,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,1.6
$GPS2,300417,170656,5711.6055,-16513.9453,5,0.8,25,10.9,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.912,-16455.246
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.249567,-0.266938
$KALMAN_X,-7599.816406,1272.685547,82.899017,37763.746094,-33.913818
$KALMAN_Y,8157.837402,-355.179321,-299.402863,-13005.430664,223.392715
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,2346,2010,2369,4094,0.0,0.0,0,33,0.00,0.00,-2.88,0.000,16390,0.000,0.000,2347,2009,2694,2694,4094,0,0,0,0,0,0,26.09,24.60,26.08,10.05,35.74
$GC,35,-1.72,-439.9,2346,2009,2694,4094,0.5,0.0,1,49,5.25,0.00,0.00,0.000,4102,0.169,0.000,1871,2010,2694,2694,4094,0,0,0,0,0,0,25.51,25.57,25.55,10.12,35.19
$GC,112,-1.72,-439.9,1870,2010,2696,4094,7.5,-8.7,7,126,0.00,3.97,0.00,0.000,516,0.000,0.258,1871,616,2696,2696,4094,0,0,0,0,0,0,25.91,25.48,25.92,10.12,35.46
$GC,154,-1.72,-439.9,1870,616,2696,4095,12.3,-11.0,10,168,0.00,3.72,0.00,0.000,1030,0.000,0.142,1871,2021,2696,2696,4094,0,0,0,0,0,0,25.70,25.64,25.72,10.12,35.15
$GC,232,-1.72,-439.9,1870,2021,2698,4095,21.4,-11.1,16,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2021,2698,2698,4095,0,0,0,0,0,0,26.04,26.06,26.06,10.12,35.74
$GC,308,-1.72,-439.9,1870,2021,2699,4094,30.1,-11.7,22,322,0.00,4.15,0.00,0.000,260,0.000,0.308,1870,3437,2700,2700,4095,0,0,0,0,0,0,26.11,25.65,26.12,10.12,34.80
$GC,339,-1.72,-439.9,1870,3436,2700,4094,33.6,-11.6,24,354,0.00,3.70,0.00,0.000,1030,0.000,0.129,1871,2038,2700,2700,4094,0,0,0,0,0,0,25.88,25.85,25.91,10.12,34.83
$GC,417,-1.72,-439.9,1870,2038,2702,4094,41.9,-10.5,30,432,0.00,4.03,0.00,0.000,516,0.000,0.263,1871,606,2702,2702,4094,0,0,0,0,0,0,26.17,25.73,26.19,10.11,34.76
$GC,460,-1.72,-439.9,1870,606,2702,4094,46.9,-11.2,33,478,0.00,3.72,0.00,0.000,1030,0.000,0.142,1871,2024,2703,2703,4094,0,0,0,0,0,0,25.93,25.91,25.96,10.11,34.72
$GC,546,-1.72,-439.9,1870,2024,2704,4094,56.3,-10.6,39,564,0.00,4.12,0.00,0.000,260,0.000,0.310,1871,3438,2705,2705,4095,0,0,0,0,0,0,26.25,25.77,26.25,10.11,34.56
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,586,-0.45,0.0,1870,2022,2705,4095,60.1,-11.2,41,630,4.30,0.00,26.58,4.430,10244,0.211,0.000,2258,2021,2176,2176,4094,0,0,0,0,0,0,25.94,24.74,23.94,10.11,35.19
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,632,1.72,439.9,2257,2021,2176,4094,63.1,0.0,44,670,7.47,0.00,26.15,4.360,11270,0.132,0.000,2945,2021,1661,1661,4094,0,0,0,0,0,0,25.36,25.55,23.56,10.00,34.28
$GC,733,1.72,439.9,2944,2021,1660,4094,55.4,11.9,51,752,0.00,4.22,0.00,0.000,260,0.000,0.283,2945,3440,1659,1659,4094,0,0,1,0,0,0,25.46,25.06,25.48,9.91,33.89
$GC,790,1.72,439.9,2944,3440,1658,4094,46.8,15.3,55,809,0.00,3.78,0.00,0.000,1030,0.000,0.122,2945,2040,1657,1657,4094,0,0,0,0,0,0,25.40,25.34,25.42,9.90,34.48
$GC,874,1.72,439.9,2944,2040,1655,4094,34.6,14.2,61,890,0.00,4.10,0.00,0.000,516,0.000,0.271,2945,610,1655,1655,4094,0,0,0,0,0,0,25.79,25.38,25.81,9.90,34.20
$GC,942,1.72,439.9,2944,610,1653,4094,25.4,13.7,66,960,0.00,3.67,0.00,0.000,1030,0.000,0.137,2945,1998,1653,1653,4094,0,0,0,0,0,0,25.63,25.58,25.64,9.90,34.40
$GC,1026,1.72,439.9,2944,1998,1651,4094,14.6,12.7,72,1042,0.00,4.20,0.00,0.000,260,0.000,0.288,2945,3441,1650,1650,4094,0,0,0,0,0,0,25.98,25.54,25.99,9.90,34.52
$GC,1093,1.72,439.9,2944,3441,1649,4094,4.8,15.3,77,1108,0.00,3.80,0.00,0.000,1030,0.000,0.132,2945,2014,1648,1648,4094,0,0,0,0,0,0,25.78,25.73,25.80,9.90,34.44
$STATE,1122,end climb,SURFACE_DEPTH_REACHED
$STATE,1122,begin surface coast
$FINISH,-0.1,1.023119
$STATE,1150,end surface coast,CONTROL_FINISHED_OK
$STATE,1150,begin surface
$SM_CCo,1246,0.00,0.000,0,0,1648,453.34
$SM_GC,0.84,28.80,0.00,0.00,0.099,0.000,0.000,232,2007,1648,-6.81,-0.68,453.34,0,0,0,0,0,0,25.46,26.10,25.74
$IRIDIUM_FIX,5554.28,-16557.83,300417,161559
$TT8_MAMPS,0.026964,0.246421
$HUMID,34.99
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,8.5
$24V_AH,23.56,14.499
$10V_AH,8.81,10.711
$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,45.825,54.950,52.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,290.366,60.261,139.664,784.508,24.949,33.417,426.372,0.000,797.319,0.000,5.445,0.000
$DEVICE_MAMPS,211.055,310.375,4429.672,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.074,103.846,174.175,451.118,772.576,0.000,0.000,0.000,0.000,0.000
$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,7405,81
$CAP_FILE_SIZE,25317,10
$CFSIZE,1024409600,1012072448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300417,174803,5711.834,-16513.316,13,0.9,38,11.0,0.9,335.0,10,4.9