version: 66.12
glider: 401
mission: 20
dive: 149
start: 5 1 117 0 21 55
data:
$ID,401
$MISSION,20
$DIVE,149
$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,110
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,010517,000310,5711.4922,-16507.6504,4,0.8,15,11.0,0.5,305.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,0.7
$GPS2,010517,000310,5711.4922,-16507.6504,4,0.8,15,11.0,0.5,305.5,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.799,-16448.953
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.349844,0.105555
$KALMAN_X,-7212.539551,1648.481934,496.481262,42894.769531,-197.901978
$KALMAN_Y,11049.134766,299.059357,26.004107,-17085.484375,-207.681030
$MHEAD_RNG_PITCHd_Wd,99.0,20000,-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,16,-1.72,-439.9,2349,2013,2366,4095,0.0,0.0,0,37,0.00,0.00,-3.30,0.000,16390,0.000,0.000,2349,2013,2691,2691,4094,0,0,0,0,0,0,26.09,24.60,26.09,10.05,35.03
$GC,39,-1.72,-439.9,2349,2012,2691,4094,0.0,0.0,1,57,5.12,0.00,0.00,0.000,4102,0.149,0.000,1882,2013,2691,2691,4094,0,0,0,0,0,0,25.44,25.50,25.47,10.12,35.50
$GC,122,-1.72,-439.9,1881,2013,2692,4094,7.6,-8.9,7,140,0.00,4.03,0.00,0.000,516,0.000,0.263,1882,607,2693,2693,4094,0,0,0,0,0,0,25.87,25.44,25.88,10.12,35.03
$GC,168,-1.72,-439.9,1881,607,2694,4094,13.1,-11.2,10,186,0.00,3.75,0.00,0.000,1030,0.000,0.139,1881,2022,2694,2694,4095,0,0,0,0,0,0,25.67,25.61,25.70,10.13,35.11
$GC,252,-1.72,-439.9,1881,2022,2695,4094,22.3,-10.5,16,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2022,2696,2696,4094,0,0,0,0,0,0,26.03,26.03,26.03,10.13,34.80
$GC,331,-1.72,-439.9,1881,2022,2696,4094,30.9,-11.1,22,345,0.00,4.15,0.00,0.000,260,0.000,0.305,1881,3439,2697,2697,4094,0,0,0,0,0,0,26.10,25.65,26.10,10.12,34.91
$GC,374,-1.72,-439.9,1881,3440,2697,4094,35.6,-10.7,25,388,0.00,3.78,0.00,0.000,1030,0.000,0.134,1881,2017,2698,2698,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.12,34.68
$GC,453,-1.72,-439.9,1881,2017,2699,4094,43.6,-10.2,31,471,0.00,3.97,0.00,0.000,516,0.000,0.266,1881,607,2699,2699,4094,0,0,0,0,0,0,26.17,25.72,26.19,10.12,34.68
$GC,488,-1.72,-439.9,1881,607,2700,4094,47.4,-10.6,33,506,0.00,3.70,0.00,0.000,1030,0.000,0.142,1881,2013,2700,2700,4094,0,0,0,0,0,0,25.94,25.87,25.95,10.12,35.35
$GC,575,-1.72,-439.9,1881,2014,2701,4094,56.7,-10.4,39,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2017,2702,2702,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.12,34.60
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,608,begin apogee
$GC,611,-0.45,0.0,1881,2017,2702,4095,60.0,-10.3,41,645,4.18,0.00,26.20,4.412,10244,0.216,0.000,2256,2016,2174,2174,4094,0,0,0,0,0,0,25.91,25.06,23.95,10.12,34.68
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,647,1.72,439.9,2256,2016,2174,4095,62.9,0.0,43,685,7.47,0.00,26.02,4.328,11270,0.132,0.000,2943,2016,1661,1661,4094,0,0,0,0,0,0,25.33,25.51,23.56,10.01,34.48
$GC,748,1.72,439.9,2942,2017,1660,4094,54.5,11.8,50,766,0.00,4.07,0.00,0.000,516,0.000,0.263,2943,613,1659,1659,4094,0,0,1,0,0,0,25.46,25.08,25.48,9.91,34.28
$GC,795,1.72,439.9,2942,613,1658,4094,47.5,14.9,53,813,0.00,3.72,0.00,0.000,1030,0.000,0.134,2943,2004,1657,1657,4094,0,0,0,0,0,0,25.37,25.32,25.40,9.91,34.24
$GC,879,1.72,439.9,2942,2004,1656,4094,36.2,13.8,59,895,0.00,4.22,0.00,0.000,260,0.000,0.288,2943,3440,1655,1655,4094,0,0,0,0,0,0,25.78,25.35,25.79,9.90,33.81
$GC,911,1.72,439.9,2942,3441,1655,4094,31.8,13.5,61,930,0.00,3.85,0.00,0.000,1030,0.000,0.129,2943,2004,1654,1654,4094,0,0,0,0,0,0,25.56,25.52,25.60,9.90,34.09
$GC,996,1.72,439.9,2942,2004,1652,4094,20.4,13.1,67,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2004,1652,1652,4094,0,0,0,0,0,0,25.94,25.95,25.94,9.91,34.28
$GC,1074,1.72,439.9,2942,2004,1650,4094,10.2,13.2,73,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2004,1649,1649,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.91,34.24
$STATE,1130,end climb,SURFACE_DEPTH_REACHED
$STATE,1130,begin surface coast
$FINISH,-0.1,1.025007
$STATE,1157,end surface coast,CONTROL_FINISHED_OK
$STATE,1157,begin surface
$SM_CCo,1253,0.00,0.000,0,0,1648,452.48
$SM_GC,1.02,28.58,0.00,0.00,0.097,0.000,0.000,243,2001,1648,-6.77,-1.09,452.48,0,0,0,0,0,0,25.79,26.10,25.86
$IRIDIUM_FIX,5744.64,-16600.79,300417,231623
$TT8_MAMPS,0.026964,0.244174
$HUMID,34.56
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,8.4
$24V_AH,23.56,15.853
$10V_AH,8.80,11.230
$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,45.350,39.250,52.225,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,283.430,60.523,151.180,784.559,26.861,33.410,435.860,0.000,797.098,0.000,5.446,0.000
$DEVICE_MAMPS,216.021,305.409,4412.291,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.786,101.300,169.833,460.292,773.289,0.000,0.000,0.000,0.000,0.000
$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,7366,79
$CAP_FILE_SIZE,24817,17
$CFSIZE,1024409600,1011187712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,004340,5711.133,-16507.814,2,0.8,19,11.0,0.7,299.6,11,4.8