version: 66.12
glider: 401
mission: 20
dive: 171
start: 5 1 117 8 48 22
data:
$ID,401
$MISSION,20
$DIVE,171
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,010517,082901,5711.9448,-16505.3926,5,0.8,15,11.0,0.6,349.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.7
$GPS2,010517,082901,5711.9448,-16505.3926,5,0.8,15,11.0,0.6,349.6,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.251,-16446.691
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.156680,-0.330394
$KALMAN_X,-10136.997070,552.235413,392.392822,49289.320312,303.326782
$KALMAN_Y,12583.237305,540.088074,641.759827,-18641.212891,217.139221
$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,-439.9,2345,2001,2369,4094,0.0,0.0,0,34,0.00,0.00,-3.30,0.000,16390,0.000,0.000,2345,2001,2692,2692,4095,0,0,0,0,0,0,26.10,24.60,26.10,10.05,35.39
$GC,36,-1.72,-439.9,2345,2001,2692,4094,-0.1,0.0,1,51,5.28,3.95,0.00,0.000,4612,0.161,0.263,1864,626,2692,2692,4094,0,0,0,0,0,0,25.54,25.39,25.58,10.13,35.66
$GC,67,-1.72,-439.9,1863,626,2692,4094,2.1,-6.5,3,86,0.00,3.67,0.00,0.000,1030,0.000,0.132,1863,2016,2692,2692,4095,0,0,0,0,0,0,25.60,25.54,25.63,10.13,35.31
$GC,151,-1.72,-439.9,1863,2016,2694,4094,11.5,-11.0,9,167,0.00,4.18,0.00,0.000,260,0.000,0.305,1863,3430,2694,2694,4094,0,0,0,0,0,0,25.97,25.51,25.98,10.13,35.15
$GC,195,-1.72,-439.9,1863,3430,2694,4094,16.7,-11.9,12,213,0.00,3.67,0.00,0.000,1030,0.000,0.132,1864,2051,2695,2695,4094,0,0,0,0,0,0,25.76,25.75,25.78,10.13,35.07
$GC,279,-1.72,-439.9,1863,2051,2696,4095,26.5,-11.7,18,295,0.00,4.10,0.00,0.000,516,0.000,0.266,1864,603,2697,2697,4094,0,0,0,0,0,0,26.09,25.65,26.10,10.13,34.99
$GC,335,-1.72,-439.9,1863,603,2698,4094,33.7,-13.0,22,349,0.00,3.70,0.00,0.000,1030,0.000,0.139,1864,2010,2698,2698,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.13,34.68
$GC,413,-1.72,-439.9,1863,2010,2699,4094,42.3,-10.3,28,428,0.00,4.15,0.00,0.000,260,0.000,0.298,1863,3438,2699,2699,4094,0,0,0,0,0,0,26.18,25.71,26.20,10.12,34.72
$GC,456,-1.72,-439.9,1863,3438,2700,4094,47.4,-11.8,31,470,0.00,3.72,0.00,0.000,1030,0.000,0.132,1864,2029,2700,2700,4094,0,0,0,0,0,0,25.94,25.89,25.97,10.12,34.72
$GC,541,-1.72,-439.9,1863,2028,2702,4095,56.2,-9.6,37,555,0.00,3.97,0.00,0.000,516,0.000,0.258,1863,611,2702,2702,4095,0,0,0,0,0,0,26.25,25.80,26.26,10.12,34.80
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,578,-0.45,0.0,1863,2027,2703,4094,59.9,-11.0,39,613,4.40,0.00,26.42,4.435,10244,0.221,0.000,2257,2028,2175,2175,4095,0,0,0,0,0,0,25.94,25.06,23.94,10.12,34.44
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.72,439.9,2257,2028,2175,4094,63.5,0.0,41,666,7.47,0.00,26.12,4.330,11270,0.132,0.000,2943,2028,1661,1661,4094,0,0,0,0,0,0,25.32,25.52,23.53,10.01,35.03
$GC,730,1.72,439.9,2942,2027,1659,4094,53.8,12.0,49,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2028,1658,1658,4094,0,0,0,0,0,0,25.51,25.53,25.53,9.92,33.69
$GC,807,1.72,439.9,2943,2028,1656,4094,42.4,15.1,55,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2028,1656,1656,4094,0,0,0,0,0,0,25.72,25.73,25.73,9.91,33.85
$GC,887,1.72,439.9,2943,2028,1654,4094,32.0,13.0,61,905,0.00,4.12,0.00,0.000,260,0.000,0.283,2943,3439,1653,1653,4094,0,0,0,0,0,0,25.85,25.42,25.86,9.91,34.09
$GC,945,1.72,439.9,2943,3439,1652,4094,23.4,14.7,65,963,0.00,3.80,0.00,0.000,1030,0.000,0.127,2943,2014,1652,1652,4094,0,0,0,0,0,0,25.66,25.61,25.70,9.91,34.80
$GC,1029,1.72,439.9,2943,2014,1650,4094,12.5,12.2,71,1045,0.00,4.03,0.00,0.000,516,0.000,0.281,2943,609,1649,1649,4094,0,0,0,0,0,0,26.01,25.57,26.02,9.91,35.11
$GC,1061,1.72,439.9,2943,609,1649,4094,8.3,13.0,73,1076,0.00,3.75,0.00,0.000,1030,0.000,0.139,2943,2028,1648,1648,4094,0,0,0,0,0,0,25.77,25.72,25.81,9.92,34.48
$STATE,1114,end climb,SURFACE_DEPTH_REACHED
$STATE,1114,begin surface coast
$FINISH,0.1,1.025295
$STATE,1142,end surface coast,CONTROL_FINISHED_OK
$STATE,1142,begin surface
$SM_CCo,1238,0.00,0.000,0,0,1647,453.34
$SM_GC,0.95,28.70,0.00,0.00,0.102,0.000,0.000,241,2033,1647,-6.78,0.36,453.34,0,0,0,0,0,0,25.80,26.11,25.87
$IRIDIUM_FIX,5554.28,-16557.83,010517,073824
$TT8_MAMPS,0.026964,0.261401
$HUMID,34.83
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.5
$24V_AH,23.53,17.528
$10V_AH,8.74,11.867
$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,45.850,54.575,52.550,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,284.433,60.089,142.982,776.942,26.982,33.418,430.828,0.000,789.570,0.000,5.449,0.000
$DEVICE_MAMPS,220.987,305.409,4434.638,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.667,101.265,169.902,454.531,765.390,0.000,0.000,0.000,0.000,0.000
$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,7480,79
$CAP_FILE_SIZE,25307,12
$CFSIZE,1024409600,1010106368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,090946,5711.977,-16503.785,4,0.7,13,11.0,0.0,186.9,11,4.8