version: 66.12
glider: 401
mission: 20
dive: 221
start: 5 2 117 3 14 2
data:
$ID,401
$MISSION,20
$DIVE,221
$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,14
$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,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
$GPS1,020517,025513,5708.5205,-16448.5078,4,0.9,18,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-0.3
$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,0.132201,-0.355237
$KALMAN_X,-9534.453125,1304.986572,-40.858894,65274.820312,-278.493469
$KALMAN_Y,16153.338867,111.829132,-294.329407,-27195.621094,-24.370670
$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,-488.8,2317,2163,2363,4094,0.0,0.0,0,36,0.00,0.00,-3.85,0.000,16390,0.000,0.000,2317,2162,2747,2747,4095,0,0,0,0,0,0,25.96,25.11,25.96,10.07,35.39
$GC,38,-1.83,-488.8,2317,2162,2747,4094,-0.0,0.0,1,56,5.62,0.00,0.00,0.000,4102,0.124,0.000,1798,2162,2747,2747,4094,0,0,0,0,0,0,25.38,25.43,25.41,10.15,36.10
$GC,120,-1.83,-488.8,1798,2162,2749,4095,8.9,-11.8,7,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2163,2749,2749,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.15,35.31
$GC,196,-1.83,-488.8,1798,2162,2750,4094,19.4,-13.9,13,214,0.00,3.35,0.00,0.000,516,0.000,0.221,1799,970,2751,2751,4094,0,0,0,0,0,0,25.92,25.51,25.94,10.15,35.11
$GC,265,-1.83,-488.8,1798,970,2752,4094,29.5,-14.8,18,280,0.00,3.15,0.00,0.000,1030,0.000,0.137,1799,2159,2752,2752,4094,0,0,0,0,0,0,25.73,25.70,25.76,10.15,35.03
$GC,343,-1.83,-488.8,1798,2159,2754,4095,40.2,-13.9,24,362,0.00,3.58,0.00,0.000,260,0.000,0.308,1798,3374,2754,2754,4094,0,0,0,0,0,0,26.08,25.61,26.09,10.14,34.60
$GC,378,-1.83,-488.8,1798,3374,2755,4094,45.2,-14.1,26,397,0.00,3.22,0.00,0.000,1030,0.000,0.127,1798,2149,2755,2755,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.14,34.56
$GC,466,-1.83,-488.8,1798,2149,2757,4094,55.9,-12.6,32,485,0.00,3.28,0.00,0.000,516,0.000,0.241,1798,978,2757,2757,4094,0,0,0,0,0,0,26.15,25.72,26.16,10.14,34.72
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,507,-0.50,0.0,1798,2082,2758,4094,60.9,-12.4,34,550,4.65,0.00,29.33,4.514,10244,0.221,0.000,2212,2083,2173,2173,4094,0,0,0,0,0,0,25.84,24.59,23.78,10.13,34.87
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,552,1.83,488.8,2212,2084,2173,4094,65.1,0.0,37,600,8.00,3.50,28.95,4.447,10500,0.127,0.276,2952,3269,1603,1603,4094,0,0,0,0,0,0,25.13,25.03,23.39,10.01,34.48
$GC,629,1.84,491.1,2951,3269,1602,4094,60.1,9.6,42,647,0.00,3.25,0.00,0.000,1030,0.000,0.122,2952,2083,1602,1602,4094,0,0,0,0,0,0,25.01,24.97,25.04,9.90,34.28
$GC,711,1.84,491.1,2952,2083,1600,4094,49.6,13.4,48,729,0.00,3.47,0.00,0.000,516,0.000,0.256,2952,878,1600,1600,4094,0,0,0,0,0,0,25.56,25.15,25.56,9.90,34.13
$GC,781,1.84,491.1,2951,878,1598,4094,40.3,13.5,53,795,0.00,3.15,0.00,0.000,1030,0.000,0.129,2952,2065,1598,1598,4094,0,0,0,0,0,0,25.45,25.40,25.48,9.90,34.83
$GC,858,1.84,491.1,2952,2065,1596,4094,30.4,13.0,59,873,0.00,3.50,0.00,0.000,260,0.000,0.273,2952,3265,1595,1595,4094,0,0,0,0,0,0,25.82,25.39,25.83,9.90,34.01
$GC,925,1.84,491.1,2952,3265,1594,4094,21.0,14.4,64,943,0.00,3.15,0.00,0.000,1030,0.000,0.122,2952,2083,1593,1593,4094,0,0,0,0,0,0,25.65,25.60,25.68,9.91,34.64
$GC,1006,1.84,491.1,2952,2083,1591,4094,10.1,13.2,70,1020,0.00,3.42,0.00,0.000,516,0.000,0.258,2952,875,1590,1590,4094,0,0,0,0,0,0,25.99,25.54,26.00,9.90,34.52
$GC,1048,1.84,491.1,2952,875,1590,4094,4.4,13.5,73,1063,0.00,3.15,0.00,0.000,1030,0.000,0.137,2952,2071,1589,1589,4094,0,0,0,0,0,0,25.76,25.71,25.79,9.91,34.68
$STATE,1078,end climb,SURFACE_DEPTH_REACHED
$STATE,1078,begin surface coast
$FINISH,0.0,1.008785
$STATE,1105,end surface coast,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$SM_CCo,1202,0.00,0.000,0,0,1589,503.14
$SM_GC,0.83,28.77,0.25,0.00,0.089,0.199,0.000,231,2184,1589,-6.71,-0.64,503.14,0,0,1,0,0,0,25.56,25.80,25.76
$IRIDIUM_FIX,5554.28,-16557.83,020517,020816
$TT8_MAMPS,0.026964,0.261401
$HUMID,34.83
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.9,9.4
$24V_AH,23.39,21.487
$10V_AH,8.70,13.259
$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,47.050,49.750,58.275,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,281.146,60.327,147.706,742.463,28.766,33.413,431.474,0.000,753.962,0.000,7.050,0.000
$DEVICE_MAMPS,220.987,307.892,4514.094,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.277,98.676,165.543,422.190,728.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,7398,77
$CAP_FILE_SIZE,24962,10
$CFSIZE,1024409600,1007648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,033458,5708.083,-16449.518,2,0.9,21,11.1,0.0,0.0,10,4.8