version: 66.12
glider: 401
mission: 20
dive: 184
start: 5 1 117 13 45 26
data:
$ID,401
$MISSION,20
$DIVE,184
$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,13
$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
$GPS1,010517,133915,5710.0034,-16455.8301,1,0.8,30,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-46.2
$GPS2,010517,134425,5709.9580,-16455.8340,3,0.8,35,11.1,0.0,0.0,10,4.4
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5706.265,-16437.148
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.286647,0.226591
$KALMAN_X,-7904.927246,2357.905762,1521.258789,53686.609375,-143.537598
$KALMAN_Y,12510.137695,164.202621,-261.286133,-20952.501953,-345.243774
$MHEAD_RNG_PITCHd_Wd,98.9,20000,-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,-439.9,231,2032,1646,4094,0.0,0.0,0,37,0.00,0.00,-9.50,0.000,16390,0.000,0.000,231,2032,2691,2691,4094,0,0,0,0,0,0,26.06,25.24,26.06,9.90,36.29
$GC,39,-1.72,-439.9,231,2032,2691,4094,1.0,0.0,1,76,20.48,4.03,0.00,0.000,2564,0.407,0.238,1848,607,2694,2694,4094,0,0,0,0,0,0,25.41,25.37,25.49,10.12,35.78
$GC,128,-1.72,-439.9,1847,607,2695,4094,25.4,-18.1,7,146,0.00,3.75,0.00,0.000,1030,0.000,0.142,1848,2018,2696,2696,4094,0,0,0,0,0,0,25.65,25.59,25.67,10.13,35.35
$GC,212,-1.72,-439.9,1848,2019,2697,4094,35.9,-11.9,13,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2018,2697,2697,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.12,34.99
$GC,291,-1.72,-439.9,1847,2018,2699,4094,45.7,-12.7,19,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2019,2699,2699,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.11,35.07
$GC,373,-1.72,-439.9,1847,2019,2701,4094,55.6,-11.4,25,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2018,2702,2702,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,35.39
$STATE,406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,406,begin apogee
$GC,410,-0.45,0.0,1848,2019,2702,4095,59.9,-12.7,27,447,4.55,0.00,26.35,4.452,10244,0.211,0.000,2256,2018,2174,2174,4094,0,0,0,0,0,0,25.86,24.98,23.84,10.12,34.91
$STATE,448,end apogee,CONTROL_FINISHED_OK
$STATE,448,begin climb
$GC,449,1.72,439.9,2255,2019,2174,4094,62.8,0.0,29,501,7.50,4.20,26.33,4.390,10500,0.146,0.288,2949,3436,1661,1661,4094,0,0,0,0,0,0,25.18,25.08,23.49,10.01,34.48
$GC,517,1.72,439.9,2949,3437,1661,4094,59.1,8.2,33,537,0.00,3.88,0.03,0.032,9222,0.000,0.127,2949,2023,1660,1660,4094,0,0,0,0,0,0,25.03,24.99,25.06,9.91,34.09
$GC,602,1.72,439.9,2948,2023,1658,4094,47.7,12.9,39,618,0.00,4.12,0.00,0.000,516,0.000,0.276,2949,606,1658,1658,4094,0,0,0,0,0,0,25.59,25.18,25.60,9.91,34.20
$GC,670,1.72,439.9,2948,606,1656,4094,38.5,13.9,44,688,0.00,3.78,0.00,0.000,1030,0.000,0.134,2949,2021,1656,1656,4094,0,0,0,0,0,0,25.48,25.43,25.51,9.90,34.13
$GC,754,1.72,439.9,2948,2021,1654,4094,27.3,13.2,50,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2021,1653,1653,4094,0,0,0,0,0,0,25.86,25.87,25.87,9.90,34.17
$GC,833,1.72,439.9,2948,2021,1651,4094,17.2,12.8,56,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2021,1651,1651,4094,0,0,0,0,0,0,25.96,25.97,25.96,9.91,34.72
$GC,913,1.72,439.9,2948,2021,1649,4094,6.6,13.2,62,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2021,1649,1649,4094,0,0,0,0,0,0,26.03,26.05,26.05,9.91,34.76
$STATE,942,end climb,FINISH_DEPTH_REACHED
$STATE,942,begin subsurface finish
$FINISH1,2.6,1.025323,-163
$GC,947,-0.26,-162.6,2949,2021,1648,4094,2.6,13.4,64,966,6.53,0.00,-6.47,0.000,20486,0.156,0.000,2342,2022,2373,2373,4095,0,0,0,0,0,0,25.84,24.84,25.86,9.91,34.87
$FINISH2,0.0
$STATE,967,end subsurface finish,CONTROL_FINISHED_OK
$STATE,967,begin surface
$IRIDIUM_FIX,5554.28,-16243.85,010517,125529
$TT8_MAMPS,0.026215,0.26215
$HUMID,34.83
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.5
$24V_AH,23.49,18.501
$10V_AH,8.72,12.238
$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,39.050,23.750,52.700,0.000,0.000,23.224,21.289,160.562,0.500,0.000,37.004,239.820,0.000,117.247,894.798,49.184,33.459,381.639,0.000,660.521,0.000,7.321,0.000
$DEVICE_MAMPS,407.212,288.028,4452.019,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.041,83.240,139.809,378.853,636.621,0.000,0.000,0.000,0.000,0.000
$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,3874,65
$CAP_FILE_SIZE,24539,16
$CFSIZE,1024409600,1009467392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,134425,5709.958,-16455.834,3,0.8,35,11.1,0.0,0.0,10,4.4