version: 66.12
glider: 401
mission: 20
dive: 177
start: 5 1 117 11 2 17
data:
$ID,401
$MISSION,20
$DIVE,177
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,010517,104317,5711.7065,-16500.3047,5,0.8,17,11.1,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,3.8
$GPS2,010517,104317,5711.7065,-16500.3047,5,0.8,17,11.1,0.0,0.0,11,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.013,-16441.605
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.300378,-0.207715
$KALMAN_X,-8557.887695,1621.766479,1339.456543,50795.511719,246.822388
$KALMAN_Y,13917.356445,792.489258,582.165039,-20610.513672,27.579956
$MHEAD_RNG_PITCHd_Wd,98.9,20000,-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,15,-1.72,-439.9,2345,2044,2370,4094,0.0,0.0,0,19,0.00,0.00,-1.58,0.000,16390,0.000,0.000,2345,2044,2699,2699,4094,0,0,0,0,0,0,26.10,24.59,26.06,10.05,35.15
$GC,21,-1.72,-439.9,2345,2044,2699,4094,0.0,0.0,0,35,5.28,0.00,0.00,0.000,4102,0.194,0.000,1867,2044,2699,2699,4095,0,0,0,0,0,0,25.82,25.88,25.85,10.13,35.62
$GC,97,-1.72,-439.9,1866,2044,2700,4094,11.8,-9.9,6,112,0.00,4.05,0.00,0.000,516,0.000,0.256,1867,612,2701,2701,4095,0,0,0,0,0,0,26.15,25.72,26.16,10.13,35.46
$GC,151,-1.72,-439.9,1866,612,2702,4094,18.2,-11.9,10,166,0.00,3.72,0.00,0.000,1030,0.000,0.142,1867,2029,2702,2702,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.13,34.91
$GC,229,-1.72,-439.9,1866,2029,2703,4094,27.0,-11.1,16,244,0.00,4.12,0.00,0.000,260,0.000,0.310,1867,3442,2703,2703,4094,0,0,0,0,0,0,26.22,25.75,26.24,10.13,35.19
$GC,284,-1.72,-439.9,1866,3441,2705,4095,33.2,-11.5,20,299,0.00,3.72,0.00,0.000,1030,0.000,0.134,1867,2030,2705,2705,4094,0,0,0,0,0,0,25.99,25.98,26.02,10.13,35.07
$GC,362,-1.72,-439.9,1866,2031,2706,4094,41.7,-11.2,26,380,0.00,4.00,0.00,0.000,516,0.000,0.266,1867,604,2707,2707,4095,0,0,0,0,0,0,26.29,25.84,26.30,10.12,34.91
$GC,409,-1.72,-439.9,1866,605,2707,4095,47.3,-11.7,29,423,0.00,3.67,0.00,0.000,1030,0.000,0.142,1867,2010,2707,2707,4094,0,0,0,0,0,0,26.04,25.98,26.05,10.12,35.31
$GC,492,-1.72,-439.9,1866,2010,2709,4094,57.4,-11.9,35,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2009,2709,2709,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.11,34.76
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,521,begin apogee
$GC,524,-0.45,0.0,1867,2010,2709,4094,61.1,-12.1,37,561,4.35,0.00,26.50,4.435,10244,0.226,0.000,2256,2009,2174,2174,4094,0,0,0,0,0,0,26.01,25.13,24.00,10.12,34.76
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,563,begin climb
$GC,564,1.72,439.9,2255,2010,2174,4094,63.9,0.0,39,619,7.62,4.07,25.77,4.365,10756,0.179,0.268,2944,604,1665,1665,4094,0,0,0,0,0,0,25.32,25.21,23.59,10.00,34.52
$GC,636,1.72,439.9,2943,605,1665,4094,59.1,8.8,43,650,0.00,3.85,0.40,0.010,9222,0.000,0.129,2944,2030,1664,1664,4094,0,0,0,0,0,0,25.14,25.09,25.17,9.91,33.81
$GC,714,1.72,439.9,2943,2030,1662,4094,49.1,13.9,49,732,0.00,4.15,0.00,0.000,260,0.000,0.286,2944,3438,1662,1662,4094,0,0,0,0,0,0,25.65,25.22,25.65,9.91,33.81
$GC,772,1.72,439.9,2943,3438,1661,4094,40.6,14.5,53,787,0.00,3.85,0.00,0.000,1030,0.000,0.129,2944,2006,1660,1660,4094,0,0,0,0,0,0,25.51,25.46,25.54,9.91,34.17
$GC,849,1.72,439.9,2943,2006,1660,4095,30.2,13.3,59,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2006,1658,1658,4094,0,0,0,0,0,0,25.89,25.90,25.89,9.90,34.13
$GC,929,1.72,439.9,2943,2006,1657,4094,20.8,12.3,65,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2006,1655,1655,4094,0,0,0,0,0,0,25.98,25.99,25.99,9.91,34.56
$GC,1010,1.72,439.9,2944,2006,1654,4094,10.1,13.1,71,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2006,1653,1653,4094,0,0,0,0,0,0,26.06,26.08,26.08,9.92,35.07
$STATE,1077,end climb,SURFACE_DEPTH_REACHED
$STATE,1077,begin surface coast
$FINISH,0.2,1.025299
$STATE,1105,end surface coast,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$SM_CCo,1200,0.00,0.000,0,0,1652,449.05
$SM_GC,0.92,28.60,0.00,0.00,0.097,0.000,0.000,242,2006,1652,-6.77,-0.87,449.05,0,0,0,0,0,0,25.85,26.15,25.91
$IRIDIUM_FIX,5554.28,-16557.83,010517,095500
$TT8_MAMPS,0.025466,0.253911
$HUMID,34.91
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.59,17.980
$10V_AH,8.79,12.036
$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,45.850,39.225,52.675,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,283.865,59.620,135.336,748.440,26.607,33.412,401.473,0.000,760.698,0.000,5.445,0.000
$DEVICE_MAMPS,225.953,310.375,4434.638,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.213,100.048,167.762,428.476,736.362,0.000,0.000,0.000,0.000,0.000
$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,7385,78
$CAP_FILE_SIZE,23634,10
$CFSIZE,1024409600,1009811456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,112312,5711.388,-16458.916,2,0.9,22,11.1,0.5,179.4,9,5.0