version: 66.12
glider: 401
mission: 20
dive: 300
start: 5 3 117 8 11 30
data:
$ID,401
$MISSION,20
$DIVE,300
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,4
$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,600
$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,9
$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,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,9
$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
$GPS1,030517,080054,5656.3936,-16457.5664,2,0.9,16,11.0,0.7,140.0,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-34.3
$GPS2,030517,081027,5656.4360,-16457.5000,4,0.9,21,11.1,0.0,0.0,9,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5646.005,-16502.600
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117318,-0.395059
$KALMAN_X,-11769.319336,-1659.834229,-1129.755615,62552.421875,83.537170
$KALMAN_Y,27099.648438,-905.990051,-232.601425,-59559.636719,257.605347
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-9.4,-9.667,-13.26,9003
$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,-1.98,-586.5,231,2163,1475,4094,0.0,0.0,0,34,0.00,0.00,-12.15,0.000,16390,0.000,0.000,231,2163,2861,2861,4095,0,0,0,0,0,0,26.04,25.18,26.05,9.90,36.41
$GC,36,-1.98,-586.5,231,2162,2861,4094,0.8,0.0,1,65,19.30,2.20,0.00,0.000,2308,0.420,0.238,1735,2938,2864,2864,4095,0,0,0,0,0,0,25.53,25.58,25.61,10.20,36.84
$GC,175,-1.98,-586.5,1734,2937,2868,4095,33.4,-15.0,12,190,0.00,1.92,0.00,0.000,1030,0.000,0.107,1735,2182,2867,2867,4095,0,0,0,0,0,0,25.85,25.82,25.87,10.18,36.80
$GC,254,-1.98,-586.5,1734,2181,2869,4094,45.1,-15.2,18,268,0.00,2.00,0.00,0.000,516,0.000,0.166,1735,1430,2870,2870,4095,0,0,0,0,0,0,26.15,25.77,26.16,10.18,35.86
$STATE,338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,338,begin apogee
$GC,344,-0.56,0.0,1734,2086,2872,4094,58.9,-16.4,24,388,5.20,0.00,34.50,4.507,10244,0.231,0.000,2193,2086,2174,2174,4094,0,0,0,0,0,0,25.86,24.82,23.69,10.19,35.78
$STATE,389,end apogee,CONTROL_FINISHED_OK
$STATE,389,begin climb
$GC,390,1.98,586.5,2193,2086,2174,4094,63.6,0.0,27,442,8.88,2.10,34.22,4.420,10756,0.146,0.194,2995,1336,1489,1489,4094,0,0,0,0,0,0,25.07,24.98,23.33,10.03,35.35
$GC,458,1.98,586.5,2994,1336,1489,4094,59.9,8.6,31,473,0.00,1.95,0.00,0.000,1030,0.000,0.107,2995,2070,1488,1488,4094,0,0,0,0,0,0,24.87,24.83,24.89,9.91,34.72
$GC,536,1.98,586.5,2994,2071,1486,4094,48.6,14.9,37,554,0.00,2.17,0.00,0.000,260,0.000,0.228,2995,2824,1486,1486,4094,0,0,0,0,0,0,25.46,25.08,25.47,9.90,34.52
$GC,595,1.98,586.5,2994,2824,1484,4094,39.2,15.7,41,611,0.00,1.90,0.00,0.000,1030,0.000,0.107,2995,2102,1484,1484,4094,0,0,0,0,0,0,25.37,25.34,25.40,9.90,34.95
$GC,674,1.98,586.5,2995,2102,1482,4094,27.3,14.4,47,689,0.00,2.12,0.00,0.000,516,0.000,0.194,2995,1328,1482,1482,4094,0,0,0,0,0,0,25.75,25.38,25.77,9.89,34.83
$GC,741,1.98,586.5,2995,1328,1480,4094,18.2,13.5,52,756,0.00,1.90,0.00,0.000,1030,0.000,0.112,2995,2067,1479,1479,4094,0,0,0,0,0,0,25.60,25.56,25.63,9.90,35.27
$GC,818,1.98,586.5,2995,2067,1478,4094,8.0,13.9,58,837,0.00,2.15,0.00,0.000,260,0.000,0.226,2995,2829,1477,1477,4094,0,0,0,0,0,0,25.94,25.57,25.95,9.90,35.07
$STATE,851,end climb,FINISH_DEPTH_REACHED
$STATE,851,begin subsurface finish
$FINISH1,2.8,1.025095,-147
$GC,859,-0.23,-146.6,2995,2082,1476,4094,2.8,14.7,60,888,7.22,2.20,-6.80,0.000,20996,0.122,4.147,2322,1320,2349,2349,4094,0,0,0,0,0,0,25.74,24.17,25.77,9.90,35.94
$FINISH2,1.1
$STATE,889,end subsurface finish,CONTROL_FINISHED_OK
$STATE,889,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,080217
$TT8_MAMPS,0.026215,0.247919
$HUMID,35.35
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.0,10.3
$24V_AH,23.33,30.045
$10V_AH,8.66,15.390
$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,40.600,26.300,68.725,0.000,0.000,51.066,44.677,292.011,0.750,0.000,22.954,236.772,59.531,96.612,1024.303,69.418,33.442,346.673,0.000,608.607,0.000,13.553,0.000
$DEVICE_MAMPS,419.627,4146.610,4506.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.946,79.380,133.311,337.637,584.200,0.000,0.000,0.000,0.000,0.000
$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,3917,62
$CAP_FILE_SIZE,27053,5
$CFSIZE,1024409600,1003765760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,081027,5656.436,-16457.500,4,0.9,21,11.1,0.0,0.0,9,4.9