version: 66.12
glider: 401
mission: 20
dive: 220
start: 5 2 117 2 56 15
data:
$ID,401
$MISSION,20
$DIVE,220
$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,500
$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,195
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10
$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,55
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,34
$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,2
$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
$GPS1,020517,025015,5708.5508,-16448.4004,2,1.0,20,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-43.3
$GPS2,020517,025513,5708.5205,-16448.5078,4,0.9,18,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5658.089,-16453.635
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195651,-0.326681
$KALMAN_X,-9492.163086,1425.278198,64.888176,65018.328125,-373.630402
$KALMAN_Y,15783.379883,149.661285,-253.701050,-26890.355469,-129.247910
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-10.5,-9.667,-14.22,7537
$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,-1.83,-488.8,231,2192,1645,4094,0.0,0.0,0,34,0.00,0.00,-10.00,0.000,16390,0.000,0.000,231,2192,2748,2748,4095,0,0,0,0,0,0,26.03,25.21,26.05,9.92,35.70
$GC,36,-1.83,-488.8,231,2192,2748,4094,0.8,0.0,1,69,19.85,3.40,0.00,0.000,2308,0.415,0.288,1782,3348,2751,2751,4094,0,0,0,0,0,0,25.46,25.42,25.55,10.16,35.94
$GC,190,-1.83,-488.8,1782,3348,2754,4094,33.6,-14.6,13,205,0.00,3.10,0.00,0.000,1030,0.000,0.124,1782,2168,2755,2755,4094,0,0,0,0,0,0,25.79,25.75,25.82,10.14,36.17
$GC,269,-1.83,-488.8,1782,2164,2756,4094,44.7,-14.3,19,284,0.00,3.30,0.00,0.000,516,0.000,0.223,1782,976,2756,2756,4095,0,0,0,0,0,0,26.12,25.70,26.13,10.14,35.19
$STATE,363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,363,begin apogee
$GC,370,-0.50,0.0,1782,2058,2759,4094,59.0,-15.1,26,415,4.80,0.00,29.35,4.467,10244,0.219,0.000,2211,2059,2173,2173,4094,0,0,0,0,0,0,25.85,24.60,23.80,10.14,35.39
$STATE,416,end apogee,CONTROL_FINISHED_OK
$STATE,416,begin climb
$GC,418,1.83,488.8,2210,2058,2174,4094,63.2,0.0,29,468,8.10,0.00,28.75,4.382,11270,0.139,0.000,2947,2058,1603,1603,4094,0,0,0,0,0,0,25.26,25.45,23.44,10.01,34.68
$GC,532,1.83,488.8,2946,2059,1602,4094,53.6,11.5,37,547,0.00,3.38,0.00,0.000,516,0.000,0.246,2947,887,1601,1601,4094,0,0,1,0,0,0,25.45,25.07,25.46,9.90,33.97
$GC,587,1.83,488.8,2947,887,1600,4094,46.3,13.3,41,601,0.00,3.10,0.00,0.000,1030,0.000,0.129,2947,2048,1599,1599,4094,0,0,0,0,0,0,25.36,25.31,25.39,9.90,34.60
$GC,665,1.83,488.8,2947,2048,1597,4094,36.2,12.9,47,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2048,1597,1597,4094,0,0,0,0,0,0,25.76,25.77,25.77,9.90,34.20
$GC,741,1.83,488.8,2947,2048,1595,4094,26.2,13.0,53,759,0.00,3.55,0.00,0.000,260,0.000,0.268,2947,3270,1595,1595,4094,0,0,0,0,0,0,25.87,25.44,25.88,9.90,34.17
$GC,798,1.83,488.8,2947,3270,1594,4094,18.2,14.1,57,813,0.00,3.25,0.00,0.000,1030,0.000,0.122,2947,2051,1593,1593,4094,0,0,0,0,0,0,25.68,25.63,25.71,9.91,35.03
$GC,876,1.83,488.8,2947,2051,1591,4094,8.0,12.9,63,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2051,1590,1590,4094,0,0,0,0,0,0,26.01,26.03,26.03,9.91,34.56
$STATE,917,end climb,FINISH_DEPTH_REACHED
$STATE,917,begin subsurface finish
$FINISH1,2.4,1.025262,-158
$GC,922,-0.25,-158.3,2947,2086,1590,4094,2.4,13.2,66,952,6.70,3.65,-7.43,0.000,20996,0.122,4.204,2317,878,2363,2363,4094,0,0,0,0,0,0,25.82,24.28,25.84,9.91,34.83
$FINISH2,0.1
$STATE,953,end subsurface finish,CONTROL_FINISHED_OK
$STATE,953,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,020816
$TT8_MAMPS,0.026215,0.258405
$HUMID,34.95
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,10.1
$24V_AH,23.44,21.411
$10V_AH,8.71,13.231
$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,39.450,29.650,58.100,0.000,0.000,24.631,20.707,160.258,0.500,0.000,20.009,247.578,0.000,95.434,880.797,51.773,33.442,349.582,0.000,664.427,0.000,9.308,0.000
$DEVICE_MAMPS,414.661,4203.719,4466.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.133,87.121,146.209,367.711,639.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,7409,68
$CAP_FILE_SIZE,23273,6
$CFSIZE,1024409600,1007697920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,025513,5708.521,-16448.508,4,0.9,18,11.1,0.0,0.0,10,5.0