version: 66.12
glider: 401
mission: 20
dive: 165
start: 5 1 117 6 31 11
data:
$ID,401
$MISSION,20
$DIVE,165
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,010517,061208,5711.1782,-16509.2148,5,1.0,50,11.0,1.9,62.7,9,3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-1.3
$GPS2,010517,061208,5711.1782,-16509.2148,5,1.0,50,11.0,1.9,62.7,9,3.2
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.485,-16450.520
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.179027,-0.318479
$KALMAN_X,-11308.154297,-55.475670,-546.244324,48170.808594,31.984291
$KALMAN_Y,10443.926758,-144.653687,22.792961,-16616.101562,292.064819
$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,15,-1.72,-439.9,2418,2023,2180,4094,0.0,0.0,0,37,0.00,0.00,-5.15,0.000,16390,0.000,0.000,2418,2023,2690,2690,4094,0,0,0,0,0,0,25.84,25.03,25.86,10.02,35.74
$GC,39,-1.72,-439.9,2418,2023,2690,4094,-0.0,0.0,1,58,6.05,4.07,0.00,0.000,4612,0.139,0.256,1865,610,2690,2690,4094,0,0,0,0,0,0,25.29,25.14,25.32,10.13,35.15
$GC,73,-1.72,-439.9,1864,609,2690,4094,3.4,-8.7,3,88,0.00,3.80,0.00,0.000,1030,0.000,0.139,1865,2025,2691,2691,4094,0,0,0,0,0,0,25.38,25.34,25.41,10.13,35.11
$GC,152,-1.72,-439.9,1865,2026,2691,4094,12.1,-10.9,9,171,0.00,4.20,0.00,0.000,260,0.000,0.308,1865,3438,2691,2691,4094,0,0,0,0,0,0,25.79,25.34,25.80,10.13,34.68
$GC,199,-1.72,-439.9,1865,3438,2692,4094,17.8,-11.8,12,217,0.00,3.80,0.00,0.000,1030,0.000,0.129,1865,2018,2693,2693,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.13,34.64
$GC,283,-1.72,-439.9,1864,2019,2694,4094,27.7,-11.8,18,299,0.00,4.00,0.00,0.000,516,0.000,0.266,1865,613,2694,2694,4094,0,0,0,0,0,0,25.96,25.53,25.97,10.13,34.83
$GC,327,-1.72,-439.9,1864,614,2695,4094,33.2,-12.3,21,345,0.00,3.62,0.00,0.000,1030,0.000,0.137,1865,1986,2696,2696,4095,0,0,0,0,0,0,25.75,25.69,25.75,10.12,34.76
$GC,411,-1.72,-439.9,1865,1986,2697,4094,42.5,-10.6,27,427,0.00,4.25,0.00,0.000,260,0.000,0.298,1865,3440,2697,2697,4094,0,0,0,0,0,0,26.08,25.61,26.08,10.12,34.64
$GC,454,-1.72,-439.9,1864,3441,2697,4094,47.4,-11.3,30,469,0.00,3.80,0.00,0.000,1030,0.000,0.134,1865,2006,2698,2698,4094,0,0,0,0,0,0,25.84,25.79,25.88,10.12,34.48
$GC,537,-1.72,-439.9,1864,2006,2699,4094,56.5,-10.7,36,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2006,2700,2700,4094,0,0,0,0,0,0,26.16,26.18,26.17,10.12,34.72
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,569,-0.45,0.0,1865,2006,2700,4094,59.8,-11.1,38,602,4.40,0.00,26.38,4.407,10244,0.216,0.000,2258,2006,2174,2174,4094,0,0,0,0,0,0,25.86,24.99,23.88,10.13,34.99
$STATE,603,end apogee,CONTROL_FINISHED_OK
$STATE,604,begin climb
$GC,605,1.72,439.9,2258,2006,2174,4094,62.4,0.0,40,652,7.50,0.00,26.27,4.310,11270,0.132,0.000,2944,2006,1660,1660,4094,0,0,0,0,0,0,25.27,25.44,23.51,10.01,34.32
$GC,715,1.72,439.9,2944,2006,1658,4094,52.3,12.7,48,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2006,1657,1657,4094,0,0,0,0,0,0,25.46,25.48,25.48,9.91,33.61
$GC,792,1.72,439.9,2944,2006,1656,4094,42.2,13.6,54,810,0.00,4.22,0.00,0.000,260,0.000,0.276,2945,3434,1655,1655,4095,0,0,0,0,0,0,25.67,25.25,25.68,9.91,34.40
$GC,861,1.72,439.9,2944,3434,1653,4094,31.8,15.7,59,879,0.00,3.75,0.00,0.000,1030,0.000,0.124,2945,2035,1653,1653,4094,0,0,0,0,0,0,25.53,25.49,25.57,9.90,34.17
$GC,945,1.72,439.9,2944,2035,1650,4094,20.3,12.7,65,961,0.00,4.10,0.00,0.000,516,0.000,0.273,2945,604,1650,1650,4094,0,0,0,0,0,0,25.90,25.47,25.91,9.91,34.09
$GC,1000,1.72,439.9,2944,604,1649,4094,12.9,13.5,69,1018,0.00,3.75,0.00,0.000,1030,0.000,0.137,2945,2022,1649,1649,4094,0,0,0,0,0,0,25.70,25.67,25.73,9.91,34.28
$STATE,1083,end climb,SURFACE_DEPTH_REACHED
$STATE,1083,begin surface coast
$FINISH,-0.0,1.025314
$STATE,1110,end surface coast,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$SM_CCo,1206,0.00,0.000,0,0,1646,454.20
$SM_GC,0.91,28.80,0.00,0.00,0.097,0.000,0.000,233,2028,1646,-6.81,0.14,454.20,0,0,0,0,0,0,25.43,26.08,25.72
$IRIDIUM_FIX,5554.28,-16557.83,010517,051929
$TT8_MAMPS,0.026964,0.265146
$HUMID,34.52
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.4
$24V_AH,23.51,17.065
$10V_AH,8.73,11.691
$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,46.750,51.150,52.650,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,273.499,60.097,144.228,759.898,25.918,33.414,421.652,0.000,772.858,0.000,5.447,0.000
$DEVICE_MAMPS,216.021,307.892,4407.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.379,98.724,165.594,442.275,748.902,0.000,0.000,0.000,0.000,0.000
$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,7401,77
$CAP_FILE_SIZE,24135,13
$CFSIZE,1024409600,1010401280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,065204,5711.451,-16508.328,4,0.8,14,11.0,0.5,31.4,10,4.9