version: 66.12
glider: 401
mission: 20
dive: 153
start: 5 1 117 1 54 32
data:
$ID,401
$MISSION,20
$DIVE,153
$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,15
$R_STBD_OVSHOOT,24
$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
$GPS1,010517,013525,5710.7480,-16508.4414,4,0.8,22,11.0,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-1.5
$GPS2,010517,013525,5710.7480,-16508.4414,4,0.8,22,11.0,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.055,-16449.750
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.305478,0.200531
$KALMAN_X,-8301.752930,1196.182007,12.349133,44122.394531,-276.217438
$KALMAN_Y,9661.934570,-145.085388,-407.819214,-16196.376953,-273.636169
$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,-439.9,2344,2010,2365,4094,0.0,0.0,0,34,0.00,0.00,-3.35,0.000,16390,0.000,0.000,2344,2012,2690,2690,4094,0,0,0,0,0,0,26.07,25.22,26.07,10.06,35.07
$GC,36,-1.72,-439.9,2344,2012,2690,4095,0.0,0.0,1,51,5.15,4.15,0.00,0.000,4356,0.127,0.268,1865,3434,2690,2690,4095,0,0,0,0,0,0,25.53,25.34,25.55,10.13,35.54
$GC,90,-1.72,-439.9,1864,3434,2691,4094,4.6,-8.4,5,105,0.00,3.78,0.00,0.000,1030,0.000,0.132,1865,2024,2691,2691,4095,0,0,0,0,0,0,25.62,25.58,25.65,10.13,35.82
$GC,167,-1.72,-439.9,1865,2024,2691,4094,12.6,-10.5,11,182,0.00,4.03,0.00,0.000,516,0.000,0.263,1865,607,2692,2692,4095,0,0,0,0,0,0,25.97,25.54,25.98,10.13,35.58
$GC,221,-1.72,-439.9,1864,607,2693,4094,19.5,-12.9,15,239,0.00,3.72,0.00,0.000,1030,0.000,0.142,1865,2013,2694,2694,4095,0,0,0,0,0,0,25.74,25.70,25.79,10.13,34.80
$GC,305,-1.72,-439.9,1865,2013,2695,4095,29.5,-11.8,21,321,0.00,4.20,0.00,0.000,260,0.000,0.310,1865,3442,2695,2695,4094,0,0,0,0,0,0,26.10,25.63,26.11,10.13,35.62
$GC,371,-1.72,-439.9,1865,3442,2696,4094,37.3,-12.0,26,390,0.00,3.72,0.00,0.000,1030,0.000,0.129,1865,2033,2696,2696,4094,0,0,0,0,0,0,25.89,25.84,25.91,10.12,34.83
$GC,456,-1.72,-439.9,1864,2034,2698,4094,45.9,-9.9,32,471,0.00,3.97,0.00,0.000,516,0.000,0.251,1865,611,2698,2698,4095,0,0,0,0,0,0,26.20,25.77,26.21,10.12,34.87
$GC,502,-1.72,-439.9,1864,611,2698,4095,51.0,-11.4,35,517,0.00,3.72,0.00,0.000,1030,0.000,0.137,1865,2032,2699,2699,4094,0,0,0,0,0,0,25.96,25.90,25.96,10.12,35.15
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,571,-0.45,0.0,1865,2037,2700,4094,59.1,-11.6,40,617,4.38,0.00,26.48,4.378,10244,0.223,0.000,2255,2036,2174,2174,4094,0,0,0,0,0,0,25.93,24.75,23.96,10.12,34.44
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,620,1.72,439.9,2256,2036,2174,4094,62.0,0.0,43,666,7.50,0.00,26.23,4.308,11270,0.134,0.000,2943,2037,1659,1659,4094,0,0,0,0,0,0,25.37,25.58,23.55,10.01,34.13
$GC,729,1.72,439.9,2942,2036,1657,4094,52.9,13.1,51,747,0.00,4.15,0.00,0.000,516,0.000,0.258,2943,611,1657,1657,4094,0,0,0,0,0,0,25.51,25.11,25.52,9.91,33.65
$GC,787,1.72,439.9,2943,611,1656,4094,44.7,13.8,55,801,0.00,3.70,0.00,0.000,1030,0.000,0.134,2943,1995,1655,1655,4094,0,0,0,0,0,0,25.42,25.36,25.45,9.90,33.77
$GC,865,1.72,439.9,2942,1995,1653,4094,34.0,13.5,61,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1996,1653,1653,4095,0,0,0,0,0,0,25.81,25.82,25.82,9.91,33.81
$GC,941,1.72,439.9,2943,1995,1651,4094,24.7,12.1,67,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1995,1651,1651,4094,0,0,0,0,0,0,25.91,25.93,25.92,9.91,34.17
$GC,1017,1.72,439.9,2943,1995,1649,4094,14.8,13.3,73,1032,0.00,4.20,0.00,0.000,260,0.000,0.283,2943,3442,1649,1649,4094,0,0,0,0,0,0,26.00,25.56,26.01,9.92,35.03
$GC,1059,1.72,439.9,2943,3442,1648,4094,8.8,14.2,76,1074,0.00,3.85,0.00,0.000,1030,0.000,0.129,2943,1995,1648,1648,4094,0,0,0,0,0,0,25.76,25.70,25.79,9.91,34.72
$STATE,1111,end climb,SURFACE_DEPTH_REACHED
$STATE,1111,begin surface coast
$FINISH,-0.0,1.025276
$STATE,1139,end surface coast,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$SM_CCo,1236,0.00,0.000,0,0,1646,454.20
$SM_GC,0.94,28.77,0.10,0.00,0.102,0.271,0.000,232,2049,1646,-6.81,-0.87,454.20,0,0,0,0,0,0,25.48,25.89,25.75
$IRIDIUM_FIX,5554.28,-16557.83,010517,004629
$TT8_MAMPS,0.026215,0.25466
$HUMID,34.36
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,9.3
$24V_AH,23.55,16.156
$10V_AH,8.77,11.346
$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,45.800,51.000,52.700,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,286.917,60.327,134.181,787.059,24.812,33.412,417.049,0.000,800.153,0.000,5.450,0.000
$DEVICE_MAMPS,223.470,310.375,4377.529,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.781,105.143,176.287,452.470,775.001,0.000,0.000,0.000,0.000,0.000
$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,7378,82
$CAP_FILE_SIZE,24319,7
$CFSIZE,1024409600,1010991104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,021625,5710.513,-16508.908,2,0.9,44,11.0,1.2,260.8,9,4.8