version: 66.12
glider: 401
mission: 20
dive: 316
start: 5 3 117 13 48 11
data:
$ID,401
$MISSION,20
$DIVE,316
$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,27
$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,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
$GPS1,030517,134145,5653.8560,-16452.5742,3,0.9,17,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-34.8
$GPS2,030517,134708,5653.7896,-16452.5234,4,0.8,31,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5643.358,-16457.617
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.390850,-0.117529
$KALMAN_X,-6306.779297,536.092529,1230.209351,57514.132812,354.853882
$KALMAN_Y,27274.689453,-1014.467102,-574.058960,-64165.500000,-292.237671
$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,-586.5,232,2192,1443,4094,0.0,0.0,0,37,0.00,0.00,-12.57,0.000,16390,0.000,0.000,232,2192,2862,2862,4095,0,0,0,0,0,0,26.03,25.18,26.05,9.89,36.45
$GC,40,-1.98,-586.5,232,2192,2862,4095,0.7,0.0,1,72,19.17,2.08,0.00,0.000,2308,0.415,0.241,1727,2916,2865,2865,4094,0,0,0,0,0,0,25.44,25.46,25.53,10.19,36.37
$GC,194,-1.98,-586.5,1726,2915,2869,4095,38.2,-15.6,13,209,0.00,1.90,0.00,0.000,1030,0.000,0.107,1726,2173,2869,2869,4095,0,0,0,0,0,0,25.83,25.80,25.85,10.19,36.21
$GC,276,-1.98,-586.5,1726,2170,2870,4094,50.6,-16.3,19,294,0.00,2.00,0.00,0.000,516,0.000,0.179,1726,1423,2871,2871,4094,0,0,0,0,0,0,26.11,25.78,26.13,10.18,35.86
$STATE,319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,319,begin apogee
$GC,325,-0.56,0.0,1726,2069,2872,4095,58.4,-15.9,22,376,5.28,0.00,34.42,4.459,10244,0.236,0.000,2190,2069,2175,2175,4094,0,0,0,0,0,0,25.79,24.46,23.65,10.19,35.86
$STATE,377,end apogee,CONTROL_FINISHED_OK
$STATE,377,begin climb
$GC,379,1.98,586.5,2190,2069,2175,4094,63.1,0.0,25,429,8.98,0.00,34.15,4.380,11270,0.142,0.000,2994,2070,1490,1490,4094,0,0,0,0,0,0,25.19,25.36,23.32,10.03,35.90
$GC,493,1.98,586.5,2993,2070,1488,4094,52.2,14.6,33,508,0.00,2.20,0.00,0.000,260,0.000,0.223,2994,2832,1487,1487,4094,0,0,0,0,0,0,25.35,24.98,25.37,9.90,34.87
$GC,525,1.98,586.5,2993,2832,1487,4094,47.2,15.8,35,540,0.00,1.95,0.00,0.000,1030,0.000,0.107,2994,2096,1486,1486,4094,0,0,0,0,0,0,25.21,25.17,25.25,9.90,35.43
$GC,603,1.98,586.5,2993,2096,1485,4095,34.8,15.4,41,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2096,1483,1483,4094,0,0,0,0,0,0,25.64,25.65,25.65,9.90,34.72
$GC,684,1.98,586.5,2993,2095,1481,4094,23.0,14.5,47,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2096,1481,1481,4094,0,0,0,0,0,0,25.78,25.79,25.79,9.89,34.83
$GC,760,1.98,586.5,2993,2096,1479,4094,12.0,13.9,53,775,0.00,2.12,0.00,0.000,516,0.000,0.199,2994,1318,1479,1479,4094,0,0,0,0,0,0,25.89,25.50,25.90,9.89,35.35
$GC,791,1.98,586.5,2993,1318,1478,4094,7.1,15.1,55,806,0.00,1.98,0.00,0.000,1030,0.000,0.114,2994,2081,1477,1477,4094,0,0,0,0,0,0,25.65,25.61,25.69,9.90,35.15
$STATE,820,end climb,FINISH_DEPTH_REACHED
$STATE,820,begin subsurface finish
$FINISH1,3.7,1.025099,-147
$GC,826,-0.24,-146.9,2994,2082,1477,4094,3.7,13.5,57,845,7.60,0.00,-6.03,0.000,20486,0.214,0.000,2321,2086,2355,2355,4094,0,0,0,0,0,0,25.71,24.48,25.77,9.90,35.15
$FINISH2,1.5
$STATE,846,end subsurface finish,CONTROL_FINISHED_OK
$STATE,846,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,130113
$TT8_MAMPS,0.026215,0.255409
$HUMID,35.66
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.0
$24V_AH,23.32,31.573
$10V_AH,8.65,15.808
$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,41.025,15.875,68.575,0.000,0.000,23.438,19.652,165.170,0.500,0.000,32.615,223.875,0.000,103.102,799.410,66.434,33.441,346.489,0.000,570.623,0.000,8.694,0.000
$DEVICE_MAMPS,414.661,240.851,4459.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,39.157,74.246,124.735,316.819,546.559,0.000,0.000,0.000,0.000,0.000
$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,3889,58
$CAP_FILE_SIZE,22866,9
$CFSIZE,1024409600,1002979328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,134708,5653.790,-16452.523,4,0.8,31,11.1,0.0,0.0,10,4.9