version: 66.12
glider: 401
mission: 20
dive: 133
start: 4 30 117 18 14 51
data:
$ID,401
$MISSION,20
$DIVE,133
$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,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
$GPS1,300417,175556,5711.9126,-16513.3379,5,0.7,14,11.0,0.6,104.2,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,1.4
$GPS2,300417,175556,5711.9126,-16513.3379,5,0.7,14,11.0,0.6,104.2,11,4.6
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.219,-16454.637
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.201860,-0.304653
$KALMAN_X,-7486.903809,1246.553589,94.572983,38273.312500,31.634758
$KALMAN_Y,8903.211914,-165.465149,-37.597202,-13633.437500,265.624451
$MHEAD_RNG_PITCHd_Wd,99.0,20000,-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,-439.9,2334,2024,2368,4094,0.0,0.0,0,19,0.00,0.00,-1.58,0.000,16390,0.000,0.000,2334,2024,2698,2698,4094,0,0,0,0,0,0,26.11,24.61,26.07,10.05,35.11
$GC,21,-1.72,-439.9,2334,2024,2698,4094,0.0,0.0,0,39,5.25,0.00,0.00,0.000,4102,0.221,0.000,1867,2024,2698,2698,4095,0,0,0,0,0,0,25.82,25.90,25.84,10.13,35.31
$GC,102,-1.72,-439.9,1866,2024,2699,4095,12.3,-9.9,6,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2024,2700,2700,4095,0,0,0,0,0,0,26.16,26.17,26.17,10.12,34.91
$GC,178,-1.72,-439.9,1866,2022,2701,4094,21.1,-11.5,12,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2022,2701,2701,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,34.91
$GC,255,-1.72,-439.9,1866,2023,2702,4094,30.0,-11.6,18,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2022,2704,2704,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.12,35.11
$GC,332,-1.72,-439.9,1866,2022,2704,4094,37.9,-9.9,24,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2022,2704,2704,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.12,34.91
$GC,413,-1.72,-439.9,1866,2022,2705,4094,46.2,-10.7,30,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2022,2706,2706,4095,0,0,0,0,0,0,26.33,26.35,26.34,10.12,34.48
$GC,493,-1.72,-439.9,1866,2022,2707,4095,54.7,-10.8,36,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2022,2707,2707,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.12,34.64
$STATE,534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,534,begin apogee
$GC,538,-0.45,0.0,1867,2022,2708,4095,59.5,-11.2,39,571,4.32,0.00,26.60,4.402,10244,0.216,0.000,2257,2022,2174,2174,4094,0,0,0,0,0,0,26.06,25.16,24.04,10.12,34.56
$STATE,572,end apogee,CONTROL_FINISHED_OK
$STATE,573,begin climb
$GC,574,1.72,439.9,2256,2022,2174,4094,62.0,0.0,41,621,7.53,0.00,26.15,4.308,11270,0.142,0.000,2944,2022,1660,1660,4094,0,0,0,0,0,0,25.41,25.60,23.60,10.00,34.83
$GC,684,1.72,439.9,2943,2022,1658,4094,52.6,12.0,49,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2022,1657,1657,4094,0,0,0,0,0,0,25.54,25.56,25.56,9.90,33.81
$GC,760,1.72,439.9,2943,2022,1656,4094,42.3,13.7,55,778,0.00,4.18,0.00,0.000,260,0.000,0.281,2944,3438,1656,1656,4094,0,0,0,0,0,0,25.74,25.32,25.75,9.90,34.09
$GC,805,1.72,439.9,2943,3438,1654,4094,35.5,14.6,58,824,0.00,3.75,0.00,0.000,1030,0.000,0.124,2944,2038,1654,1654,4094,0,0,0,0,0,0,25.56,25.51,25.59,9.90,33.97
$GC,889,1.72,439.9,2943,2038,1652,4094,23.4,13.6,64,905,0.00,4.07,0.00,0.000,516,0.000,0.268,2944,607,1651,1651,4094,0,0,0,0,0,0,25.93,25.50,25.94,9.90,34.40
$GC,934,1.72,439.9,2943,607,1650,4094,17.6,13.1,67,948,0.00,3.80,0.00,0.000,1030,0.000,0.137,2944,2045,1650,1650,4094,0,0,0,0,0,0,25.70,25.65,25.74,9.90,34.24
$GC,1011,1.72,439.9,2943,2045,1648,4094,8.0,12.5,73,1029,0.00,4.03,0.00,0.000,260,0.000,0.268,2944,3446,1648,1648,4094,0,0,0,0,0,0,26.05,25.63,26.06,9.91,34.72
$STATE,1055,end climb,SURFACE_DEPTH_REACHED
$STATE,1055,begin surface coast
$FINISH,-0.1,1.025260
$STATE,1083,end surface coast,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$SM_CCo,1183,0.00,0.000,0,0,1646,454.20
$SM_GC,1.00,28.77,3.83,0.00,0.102,0.134,0.000,232,2015,1646,-6.81,0.68,454.20,0,0,0,0,0,0,25.50,25.82,25.76
$IRIDIUM_FIX,5554.28,-16557.83,300417,174910
$TT8_MAMPS,0.026964,0.263648
$HUMID,34.44
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,8.5
$24V_AH,23.60,14.653
$10V_AH,8.75,10.770
$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,45.875,23.650,52.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,276.655,60.378,127.032,749.165,23.322,33.404,380.717,0.000,761.710,0.000,5.448,0.000
$DEVICE_MAMPS,220.987,280.579,4402.359,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.344,100.086,167.690,426.603,737.204,0.000,0.000,0.000,0.000,0.000
$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,7402,78
$CAP_FILE_SIZE,21606,8
$CFSIZE,1024409600,1011974144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,183521,5712.145,-16512.486,4,0.9,14,11.0,0.0,343.8,10,4.6