version: 66.12
glider: 401
mission: 20
dive: 166
start: 5 1 117 6 58 33
data:
$ID,401
$MISSION,20
$DIVE,166
$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,12
$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
$GPS1,010517,065204,5711.4507,-16508.3281,4,0.8,14,11.0,0.5,31.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-46.8
$GPS2,010517,065732,5711.5054,-16508.2832,5,0.8,16,11.0,0.0,0.0,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.812,-16449.586
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.013418,-0.365295
$KALMAN_X,-10916.498047,48.111946,-412.036102,48458.804688,177.231262
$KALMAN_Y,11059.775391,-5.129280,170.176025,-16923.494141,367.945892
$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,-439.9,232,2031,1646,4094,0.0,0.0,0,34,0.00,0.00,-9.55,0.000,16390,0.000,0.000,232,2031,2693,2693,4094,0,0,0,0,0,0,25.99,25.14,26.01,9.91,36.13
$GC,36,-1.72,-439.9,232,2031,2693,4094,0.9,0.0,1,65,20.62,3.97,0.00,0.000,2564,0.410,0.228,1848,602,2696,2696,4094,0,0,0,0,0,0,25.44,25.41,25.51,10.13,36.45
$GC,105,-1.72,-439.9,1847,602,2696,4095,19.6,-27.9,6,119,0.00,3.78,0.00,0.000,1030,0.000,0.139,1848,2022,2697,2697,4094,0,0,0,0,0,0,25.63,25.58,25.67,10.14,35.54
$GC,183,-1.72,-439.9,1847,2022,2698,4095,29.9,-13.0,12,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2022,2699,2699,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.14,35.11
$GC,260,-1.72,-439.9,1847,2022,2700,4095,39.1,-11.8,18,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2022,2700,2700,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,35.70
$GC,337,-1.72,-439.9,1847,2022,2702,4094,48.3,-12.2,24,352,0.00,4.12,0.00,0.000,260,0.000,0.295,1848,3440,2702,2702,4094,0,0,0,0,0,0,26.14,25.67,26.15,10.13,34.99
$GC,385,-1.72,-439.9,1847,3440,2703,4095,53.8,-11.8,27,399,0.00,3.83,0.00,0.000,1030,0.000,0.129,1848,1993,2703,2703,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.12,34.76
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,430,-0.45,0.0,1848,2036,2704,4094,59.0,-12.1,30,464,4.60,0.00,26.33,4.395,10244,0.219,0.000,2257,2036,2174,2174,4094,0,0,0,0,0,0,25.88,25.01,23.89,10.12,34.52
$STATE,465,end apogee,CONTROL_FINISHED_OK
$STATE,465,begin climb
$GC,466,1.72,439.9,2257,2036,2174,4094,61.9,0.0,32,513,7.47,4.15,25.95,4.328,10500,0.139,0.293,2946,3428,1661,1661,4094,0,0,0,0,0,0,25.18,25.06,23.52,10.02,34.24
$GC,542,1.72,439.9,2947,3428,1660,4094,56.6,10.3,37,556,0.00,3.83,0.00,0.000,1030,0.000,0.124,2947,2029,1660,1660,4094,0,0,0,0,0,0,25.10,25.05,25.13,9.91,34.05
$GC,620,1.72,439.9,2946,2029,1658,4094,46.0,13.3,43,638,0.00,4.12,0.00,0.000,516,0.000,0.271,2947,607,1657,1657,4094,0,0,0,0,0,0,25.60,25.18,25.61,9.91,34.09
$GC,654,1.72,439.9,2947,607,1657,4094,41.1,13.8,45,668,0.00,3.83,0.00,0.000,1030,0.000,0.137,2947,2037,1656,1656,4094,0,0,0,0,0,0,25.43,25.40,25.46,9.91,33.85
$GC,731,1.72,439.9,2947,2037,1654,4095,30.8,13.1,51,749,0.00,4.12,0.00,0.000,260,0.000,0.288,2947,3440,1654,1654,4094,0,0,0,0,0,0,25.81,25.38,25.82,9.90,34.24
$GC,801,1.72,439.9,2947,3440,1652,4094,20.2,15.5,56,815,0.00,3.58,0.00,0.000,1030,0.000,0.124,2947,2096,1652,1652,4094,0,0,0,0,0,0,25.65,25.65,25.69,9.91,34.05
$GC,878,1.72,439.9,2946,2096,1650,4094,9.8,13.1,62,892,0.00,4.25,0.00,0.000,516,0.000,0.268,2947,606,1650,1650,4094,0,0,0,0,0,0,25.98,25.54,26.00,9.91,34.64
$GC,909,1.72,439.9,2947,606,1649,4094,5.7,13.2,64,927,0.00,3.95,0.00,0.000,1030,0.000,0.142,2947,2094,1648,1648,4094,0,0,0,0,0,0,25.73,25.70,25.77,9.91,35.03
$STATE,941,end climb,FINISH_DEPTH_REACHED
$STATE,941,begin subsurface finish
$FINISH1,0.7,1.025313,-162
$GC,947,-0.26,-161.9,2947,1987,1647,4094,0.7,14.1,66,968,6.38,4.53,-6.88,0.000,20740,0.119,4.234,2348,3441,2370,2370,4094,0,0,1,0,0,0,25.75,24.29,25.80,9.92,35.11
$FINISH2,0.1
$STATE,969,end subsurface finish,CONTROL_FINISHED_OK
$STATE,969,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,060746
$TT8_MAMPS,0.026215,0.258405
$HUMID,34.48
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.9,9.5
$24V_AH,23.52,17.153
$10V_AH,8.77,11.720
$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,39.075,52.350,52.275,0.000,0.000,24.620,18.206,196.798,0.500,0.000,18.097,256.659,0.000,106.289,908.755,49.041,33.439,381.304,0.000,656.527,0.000,7.330,0.000
$DEVICE_MAMPS,409.695,4233.515,4394.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.210,85.754,144.102,366.422,631.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,7404,67
$CAP_FILE_SIZE,26976,6
$CFSIZE,1024409600,1010352128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,010517,065732,5711.505,-16508.283,5,0.8,16,11.0,0.0,0.0,10,4.7