version: 66.12
glider: 401
mission: 20
dive: 168
start: 5 1 117 7 43 28
data:
$ID,401
$MISSION,20
$DIVE,168
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,010517,073717,5711.7261,-16507.0762,4,0.8,14,11.0,0.7,56.4,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-43.9
$GPS2,010517,074227,5711.7715,-16506.9961,6,0.8,19,11.0,0.0,0.0,11,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.078,-16448.297
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.340532,-0.132709
$KALMAN_X,-10314.370117,213.069427,-114.481003,48677.679688,325.888062
$KALMAN_Y,11870.030273,223.521454,403.604736,-17701.552734,353.593811
$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,-439.9,231,2030,1654,4094,0.0,0.0,0,37,0.00,0.00,-9.38,0.000,16390,0.000,0.000,232,2030,2692,2692,4094,0,0,0,0,0,0,26.03,25.18,26.04,9.91,36.13
$GC,39,-1.72,-439.9,232,2030,2692,4094,1.0,0.0,1,73,20.55,4.03,0.00,0.000,2564,0.410,0.238,1850,606,2695,2695,4094,0,0,0,0,0,0,25.39,25.35,25.50,10.13,36.25
$GC,100,-1.72,-439.9,1849,606,2696,4094,21.4,-32.8,5,115,0.00,3.78,0.00,0.000,1030,0.000,0.139,1850,2021,2696,2696,4095,0,0,0,0,0,0,25.58,25.53,25.61,10.13,35.39
$GC,178,-1.72,-439.9,1850,2021,2697,4094,31.6,-12.4,11,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2021,2698,2698,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.13,35.35
$GC,253,-1.72,-439.9,1849,2021,2699,4094,40.5,-11.6,17,271,0.00,4.18,0.00,0.000,260,0.000,0.305,1850,3446,2699,2699,4094,0,0,0,0,0,0,26.05,25.58,26.06,10.12,35.27
$GC,299,-1.72,-439.9,1849,3446,2700,4094,45.4,-11.6,20,313,0.00,3.83,0.00,0.000,1030,0.000,0.134,1850,2006,2700,2700,4094,0,0,0,0,0,0,25.82,25.77,25.85,10.12,34.80
$GC,382,-1.72,-439.9,1849,2005,2702,4094,55.5,-12.4,26,400,0.00,3.95,0.00,0.000,516,0.000,0.268,1850,608,2702,2702,4094,0,0,0,0,0,0,26.15,25.70,26.16,10.12,35.07
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,424,-0.45,0.0,1850,2034,2703,4095,60.4,-13.7,28,467,4.57,0.00,26.67,4.477,10244,0.219,0.000,2257,2034,2174,2174,4094,0,0,0,0,0,0,25.85,24.63,23.83,10.12,35.07
$STATE,468,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,470,1.72,439.9,2257,2035,2174,4094,65.3,0.0,31,516,7.53,0.00,26.35,4.435,11270,0.132,0.000,2945,2035,1661,1661,4094,0,0,0,0,0,0,25.27,25.48,23.46,10.01,34.40
$GC,580,1.72,439.9,2944,2035,1659,4094,56.5,12.9,39,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2034,1658,1658,4094,0,0,0,0,0,0,25.47,25.48,25.48,9.91,34.32
$GC,656,1.72,439.9,2944,2035,1657,4094,45.8,13.8,45,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2035,1657,1657,4094,0,0,0,0,0,0,25.67,25.69,25.69,9.91,33.93
$GC,737,1.72,439.9,2944,2034,1655,4094,34.9,13.3,51,751,0.00,4.12,0.00,0.000,260,0.000,0.281,2945,3444,1654,1654,4094,0,0,0,0,0,0,25.82,25.39,25.83,9.91,34.09
$GC,791,1.72,439.9,2945,3445,1653,4094,26.6,15.3,55,806,0.00,3.78,0.00,0.000,1030,0.000,0.129,2945,2034,1652,1652,4094,0,0,0,0,0,0,25.63,25.58,25.66,9.91,34.17
$GC,870,1.72,439.9,2944,2033,1651,4094,16.0,12.9,61,884,0.00,4.10,0.00,0.000,516,0.000,0.278,2945,602,1650,1650,4094,0,0,0,0,0,0,25.98,25.53,25.98,9.91,34.28
$GC,913,1.72,439.9,2944,602,1649,4094,10.3,13.1,64,931,0.00,3.78,0.00,0.000,1030,0.000,0.137,2945,2032,1649,1649,4094,0,0,0,0,0,0,25.75,25.70,25.78,9.91,34.83
$STATE,970,end climb,FINISH_DEPTH_REACHED
$STATE,970,begin subsurface finish
$FINISH1,2.4,1.025310,-162
$GC,975,-0.26,-161.7,2945,2032,1647,4094,2.4,13.3,68,996,6.43,4.43,-6.60,0.000,20740,0.146,4.251,2343,3443,2368,2368,4094,0,0,0,0,0,0,25.83,24.30,25.86,9.91,34.76
$FINISH2,-0.0
$STATE,997,end subsurface finish,CONTROL_FINISHED_OK
$STATE,997,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,065311
$TT8_MAMPS,0.026215,0.262899
$HUMID,34.83
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,8.5
$24V_AH,23.46,17.309
$10V_AH,8.72,11.778
$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,39.075,43.725,53.025,0.000,0.000,24.382,26.839,171.345,0.500,0.000,20.237,253.240,0.000,114.598,914.211,48.915,33.436,393.835,0.000,679.789,0.000,7.323,0.000
$DEVICE_MAMPS,409.695,4250.896,4476.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.650,88.344,148.394,381.701,654.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,7336,69
$CAP_FILE_SIZE,25988,9
$CFSIZE,1024409600,1010253824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,010517,074227,5711.771,-16506.996,6,0.8,19,11.0,0.0,0.0,11,5.0