version: 66.12
glider: 401
mission: 20
dive: 91
start: 4 30 117 2 15 29
data:
$ID,401
$MISSION,20
$DIVE,91
$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,450
$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,120
$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,2412
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,3
$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
$GPS1,300417,015611,5712.4287,-16527.1562,5,0.9,24,10.8,1.0,153.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-0.1
$GPS2,300417,015611,5712.4287,-16527.1562,5,0.9,24,10.8,1.0,153.4,9,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.029,-16509.932
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.365438,0.004906
$KALMAN_X,-6685.400391,564.710938,-467.122406,24866.121094,-350.525177
$KALMAN_Y,4928.965332,-254.850510,-608.299133,-8041.890137,-56.872208
$MHEAD_RNG_PITCHd_Wd,109.2,20000,-11.2,-9.667,-14.82,6800
$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,15,-1.72,-439.9,2395,2029,2229,4094,0.0,0.0,0,20,0.00,0.00,-2.22,0.000,16390,0.000,0.000,2396,2029,2697,2697,4095,0,0,0,0,0,0,26.14,24.65,26.12,10.02,35.23
$GC,21,-1.72,-439.9,2395,2030,2697,4094,0.0,0.0,0,36,5.95,0.00,0.00,0.000,4102,0.236,0.000,1869,2030,2697,2697,4094,0,0,0,0,0,0,25.85,25.91,25.87,10.13,35.15
$GC,99,-1.72,-439.9,1868,2030,2698,4094,13.3,-11.4,6,117,0.00,4.07,0.00,0.000,260,0.000,0.295,1868,3427,2699,2699,4094,0,0,0,0,0,0,26.18,25.73,26.20,10.13,34.83
$GC,134,-1.72,-439.9,1868,3427,2699,4094,17.5,-11.4,8,152,0.00,3.72,0.00,0.000,1030,0.000,0.129,1868,2015,2699,2699,4094,0,0,0,0,0,0,25.95,25.89,25.96,10.13,35.46
$GC,218,-1.72,-439.9,1867,2015,2701,4094,26.8,-10.9,14,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2015,2701,2701,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.13,35.43
$GC,295,-1.72,-439.9,1868,2015,2702,4094,35.5,-11.6,20,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2015,2703,2703,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.12,35.03
$GC,377,-1.72,-439.9,1868,2015,2704,4095,44.3,-10.5,26,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2015,2705,2705,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.12,34.76
$GC,459,-1.72,-439.9,1868,2015,2706,4094,52.8,-10.9,32,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2014,2706,2706,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.11,35.11
$STATE,524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,524,begin apogee
$GC,527,-0.45,0.0,1868,2010,2707,4095,58.9,-9.2,37,565,4.30,0.00,26.48,4.345,10244,0.216,0.000,2256,2010,2174,2174,4094,0,0,0,0,0,0,26.07,25.17,24.06,10.12,34.40
$STATE,566,end apogee,CONTROL_FINISHED_OK
$STATE,566,begin climb
$GC,567,1.72,439.9,2256,2010,2174,4094,61.3,0.0,39,614,7.45,0.00,25.77,4.271,11270,0.132,0.000,2943,2010,1669,1669,4094,0,0,0,0,0,0,25.44,25.63,23.64,10.00,34.68
$GC,676,1.72,439.9,2942,2010,1668,4094,52.5,13.7,47,695,0.00,4.20,1.45,0.012,8452,0.000,0.278,2943,3429,1667,1667,4094,0,0,0,0,0,0,25.56,25.20,25.56,9.91,33.69
$GC,745,1.72,439.9,2942,3429,1666,4094,42.5,14.5,52,764,0.00,3.75,0.40,0.010,9222,0.000,0.124,2943,2032,1665,1665,4094,0,0,0,0,0,0,25.49,25.44,25.52,9.91,34.24
$GC,830,1.72,439.9,2943,2032,1663,4094,30.4,13.3,58,846,0.00,4.05,0.00,0.000,516,0.000,0.276,2943,616,1662,1662,4094,0,0,0,0,0,0,25.87,25.46,25.89,9.91,34.09
$GC,874,1.72,439.9,2942,616,1662,4094,24.5,13.5,61,889,0.00,3.67,0.00,0.000,1030,0.000,0.142,2943,2002,1662,1662,4094,0,0,0,0,0,0,25.67,25.65,25.70,9.91,35.07
$GC,951,1.72,439.9,2943,2002,1659,4094,15.0,12.3,67,969,0.00,4.15,0.00,0.000,260,0.000,0.276,2943,3441,1659,1659,4094,0,0,0,0,0,0,26.01,25.59,26.03,9.91,35.07
$GC,1008,1.72,439.9,2943,3441,1657,4094,6.6,14.7,71,1023,0.00,3.72,0.00,0.000,1030,0.000,0.124,2943,2032,1657,1657,4094,0,0,0,0,0,0,25.80,25.75,25.84,9.91,34.87
$STATE,1038,end climb,SURFACE_DEPTH_REACHED
$STATE,1038,begin surface coast
$FINISH,0.4,1.025298
$STATE,1066,end surface coast,CONTROL_FINISHED_OK
$STATE,1066,begin surface
$SM_CCo,1161,0.00,0.000,0,0,1657,445.61
$SM_GC,0.93,28.85,0.00,0.00,0.107,0.000,0.000,231,2028,1657,-6.81,0.14,445.61,0,0,0,0,0,0,25.49,26.13,25.77
$IRIDIUM_FIX,5744.64,-16600.79,300417,010723
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.35
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,8.5
$24V_AH,23.64,11.474
$10V_AH,8.79,9.550
$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,46.550,31.350,54.100,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,271.792,59.596,129.536,731.667,21.795,33.413,384.713,0.000,744.434,0.000,5.446,0.000
$DEVICE_MAMPS,235.885,295.477,4345.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.242,96.221,161.285,420.907,720.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7380,75
$CAP_FILE_SIZE,22731,11
$CFSIZE,1024409600,1014038528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,023555,5712.447,-16527.438,3,1.1,32,10.8,0.0,0.0,9,5.0