version: 66.12
glider: 401
mission: 20
dive: 383
start: 5 4 117 13 31 27
data:
$ID,401
$MISSION,20
$DIVE,383
$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,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,100
$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,20
$R_STBD_OVSHOOT,36
$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
$GPS1,040517,131401,5651.6655,-16442.1680,5,0.7,20,11.2,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,3.8
$GPS2,040517,131401,5651.6655,-16442.1680,5,0.7,20,11.2,0.0,0.0,11,4.7
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.790,-16422.730
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.345732,-0.161725
$KALMAN_X,-13372.039062,695.937866,1016.833801,75031.570312,147.557373
$KALMAN_Y,33142.289062,732.475769,766.524048,-77073.234375,93.774780
$MHEAD_RNG_PITCHd_Wd,88.8,20000,-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,-1.95,-488.8,2301,2183,2372,4094,0.0,0.0,0,37,0.00,0.00,-1.92,0.000,16390,0.000,0.000,2301,2184,2756,2756,4095,0,0,0,0,0,0,26.13,24.50,26.10,10.09,36.06
$GC,39,-1.95,-488.8,2301,2183,2756,4094,4.2,0.0,1,54,5.88,2.10,0.00,0.000,4612,0.134,0.174,1761,1414,2756,2756,4095,0,0,0,0,0,0,25.51,25.39,25.51,10.16,36.06
$GC,94,-1.95,-488.8,1761,1414,2757,4094,11.1,-11.5,5,112,0.00,1.90,0.00,0.000,1030,0.000,0.122,1761,2144,2758,2758,4095,0,0,0,0,0,0,25.60,25.53,25.63,10.17,35.78
$GC,176,-1.95,-488.8,1761,2144,2760,4095,23.8,-15.9,11,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2144,2760,2760,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.17,36.45
$GC,258,-1.95,-488.8,1761,2144,2762,4094,36.3,-15.3,17,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2144,2762,2762,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.16,35.58
$GC,340,-1.95,-488.8,1760,2144,2764,4094,47.8,-14.8,23,360,0.00,1.95,0.00,0.000,516,0.000,0.159,1761,1414,2764,2764,4095,0,0,0,0,0,0,26.16,25.79,26.17,10.17,35.50
$GC,401,-1.95,-488.8,1761,1413,2765,4094,56.6,-14.2,27,415,0.00,1.90,0.00,0.000,1030,0.000,0.112,1761,2161,2766,2766,4095,0,0,0,0,0,0,25.94,25.90,26.01,10.17,35.46
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,430,begin apogee
$GC,435,-0.56,0.0,1761,2047,2767,4095,60.9,-13.7,29,478,4.85,0.03,29.52,4.509,10244,0.219,0.273,2192,2071,2176,2176,4094,0,0,0,0,0,0,25.88,24.58,23.75,10.17,36.06
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,481,1.95,488.8,2192,2071,2176,4094,65.3,0.0,32,525,8.62,2.15,29.05,4.417,10500,0.117,0.219,2986,2828,1603,1603,4094,0,0,0,0,0,0,25.20,25.13,23.43,10.04,35.43
$GC,543,1.95,488.8,2986,2828,1603,4094,62.2,8.8,36,561,0.00,1.95,0.00,0.000,1030,0.000,0.099,2987,2100,1602,1602,4094,0,0,0,0,0,0,24.99,24.96,25.00,9.94,34.87
$GC,625,1.95,488.8,2986,2099,1601,4094,50.2,14.7,42,643,0.00,2.15,0.00,0.000,516,0.000,0.194,2987,1321,1600,1600,4094,0,0,0,0,0,0,25.57,25.20,25.58,9.93,34.80
$GC,684,1.95,488.8,2986,1320,1598,4094,40.6,16.0,46,702,0.00,1.90,0.00,0.000,1030,0.000,0.109,2987,2056,1598,1598,4094,0,0,0,0,0,0,25.43,25.41,25.48,9.93,34.87
$GC,766,1.95,488.8,2986,2056,1595,4094,28.6,14.4,52,784,0.00,2.17,0.00,0.000,260,0.000,0.209,2987,2831,1595,1595,4094,0,0,0,0,0,0,25.84,25.45,25.86,9.93,34.91
$GC,825,1.95,488.8,2986,2831,1594,4094,19.8,14.8,56,841,0.00,1.92,0.00,0.000,1030,0.000,0.104,2987,2092,1593,1593,4094,0,0,0,0,0,0,25.67,25.63,25.70,9.93,35.35
$GC,904,1.95,488.8,2986,2091,1591,4094,8.3,14.4,62,923,0.00,2.10,0.00,0.000,516,0.000,0.196,2987,1315,1590,1590,4094,0,0,0,0,0,0,26.01,25.62,26.03,9.93,35.58
$STATE,949,end climb,SURFACE_DEPTH_REACHED
$STATE,949,begin surface coast
$FINISH,0.2,1.025170
$STATE,965,end surface coast,CONTROL_FINISHED_OK
$STATE,965,begin surface
$SM_CCo,1064,0.00,0.000,0,0,1589,503.14
$SM_GC,1.02,29.30,2.25,0.00,0.082,0.129,0.000,231,2175,1589,-6.71,-1.09,503.14,0,0,0,0,0,0,25.40,25.75,25.69
$IRIDIUM_FIX,5554.28,-16557.83,040517,122856
$TT8_MAMPS,0.026964,0.256907
$HUMID,35.27
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,13.1
$24V_AH,23.43,37.257
$10V_AH,8.41,17.563
$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,48.650,24.850,58.575,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,248.161,59.779,136.880,642.472,32.500,33.412,396.792,0.000,654.242,0.000,5.451,0.000
$DEVICE_MAMPS,218.504,273.130,4509.128,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.461,84.476,141.892,367.170,629.846,0.000,0.000,0.000,0.000,0.000
$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,3866,66
$CAP_FILE_SIZE,22463,10
$CFSIZE,1024409600,999686144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040517,135030,5651.530,-16441.041,3,1.0,45,11.2,0.7,211.8,9,5.0