version: 66.12
glider: 401
mission: 20
dive: 189
start: 5 1 117 15 33 42
data:
$ID,401
$MISSION,20
$DIVE,189
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,010517,151413,5709.3726,-16455.1016,3,0.8,18,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,4.4
$GPS2,010517,151413,5709.3726,-16455.1016,3,0.8,18,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5705.679,-16436.422
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.364534,0.026518
$KALMAN_X,-8274.080078,2222.564453,901.056335,55551.984375,-125.272888
$KALMAN_Y,11458.305664,-362.428955,-657.583740,-20075.390625,-145.885864
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,2345,2008,2373,4094,0.0,0.0,0,19,0.00,0.00,-1.42,0.000,16390,0.000,0.000,2346,2009,2702,2702,4095,0,0,0,0,0,0,26.09,24.58,26.05,10.05,35.15
$GC,21,-1.72,-439.9,2346,2009,2702,4094,0.0,0.0,0,39,5.25,3.95,0.00,0.000,4612,0.179,0.268,1866,617,2702,2702,4094,0,0,0,0,0,0,25.82,25.65,25.85,10.13,36.06
$GC,56,-1.72,-439.9,1866,617,2702,4094,9.0,-10.6,2,74,0.00,3.70,0.00,0.000,1030,0.000,0.139,1866,2024,2702,2702,4094,0,0,0,0,0,0,25.85,25.79,25.88,10.13,35.15
$GC,140,-1.72,-439.9,1866,2024,2705,4094,18.3,-11.1,8,156,0.00,4.15,0.00,0.000,260,0.000,0.315,1867,3438,2704,2704,4094,0,0,0,0,0,0,26.16,25.68,26.17,10.12,35.39
$GC,196,-1.72,-439.9,1866,3438,2705,4095,24.8,-11.8,12,211,0.00,3.72,0.00,0.000,1030,0.000,0.134,1866,2029,2705,2705,4094,0,0,0,0,0,0,25.93,25.89,25.98,10.12,35.66
$GC,274,-1.72,-439.9,1866,2029,2707,4094,33.7,-11.4,18,289,0.00,4.00,0.00,0.000,516,0.000,0.271,1866,612,2708,2708,4095,0,0,0,0,0,0,26.24,25.82,26.25,10.12,35.07
$GC,329,-1.72,-439.9,1866,612,2708,4094,40.1,-11.6,22,343,0.00,3.60,0.00,0.000,1030,0.000,0.142,1866,1989,2708,2708,4094,0,0,0,0,0,0,26.02,25.94,26.03,10.12,34.68
$GC,407,-1.72,-439.9,1866,1988,2709,4094,48.7,-10.9,28,425,0.00,4.20,0.00,0.000,260,0.000,0.305,1867,3434,2710,2710,4095,0,0,0,0,0,0,26.30,25.82,26.32,10.11,34.76
$GC,442,-1.72,-439.9,1866,3434,2710,4095,52.8,-11.4,30,460,0.00,3.80,0.00,0.000,1030,0.000,0.137,1866,1995,2710,2710,4094,0,0,0,0,0,0,26.03,25.99,26.07,10.12,34.83
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,497,-0.45,0.0,1866,2039,2711,4094,58.4,-11.1,33,534,4.30,0.00,26.55,4.380,10244,0.221,0.000,2252,2038,2174,2174,4094,0,0,0,0,0,0,26.00,25.11,23.99,10.11,34.60
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,536,1.72,439.9,2252,2039,2174,4094,61.1,0.0,35,588,7.47,4.10,25.92,4.313,10500,0.139,0.291,2949,3424,1662,1662,4094,0,0,0,0,0,0,25.29,25.19,23.60,10.00,34.44
$GC,605,1.72,439.9,2948,3424,1661,4094,57.2,8.6,39,619,0.00,3.83,0.00,0.000,1030,0.000,0.127,2949,2026,1661,1661,4094,0,0,0,0,0,0,25.10,25.07,25.13,9.91,33.73
$GC,683,1.72,439.9,2948,2026,1659,4094,46.8,13.4,45,701,0.00,4.12,0.00,0.000,516,0.000,0.278,2949,608,1659,1659,4094,0,0,0,0,0,0,25.63,25.19,25.64,9.90,33.97
$GC,741,1.72,439.9,2948,608,1657,4094,38.7,13.6,49,760,0.00,3.72,0.00,0.000,1030,0.000,0.137,2949,2006,1657,1657,4094,0,0,0,0,0,0,25.50,25.46,25.53,9.90,33.93
$GC,825,1.72,439.9,2948,2006,1655,4094,27.4,13.1,55,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2005,1655,1655,4094,0,0,0,0,0,0,25.88,25.89,25.89,9.90,34.17
$GC,904,1.72,439.9,2948,2006,1653,4094,17.4,13.0,61,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2006,1653,1653,4094,0,0,0,0,0,0,25.98,25.99,25.99,9.91,34.56
$GC,984,1.72,439.9,2948,2006,1651,4094,7.0,13.0,67,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2006,1650,1650,4094,0,0,0,0,0,0,26.06,26.07,26.06,9.91,34.99
$STATE,1027,end climb,SURFACE_DEPTH_REACHED
$STATE,1027,begin surface coast
$FINISH,0.0,1.025245
$STATE,1055,end surface coast,CONTROL_FINISHED_OK
$STATE,1055,begin surface
$SM_CCo,1152,0.00,0.000,0,0,1649,451.62
$SM_GC,0.81,28.83,0.03,0.00,0.099,0.688,0.000,232,2046,1649,-6.81,-0.82,451.62,0,0,0,0,0,0,25.58,25.93,25.79
$IRIDIUM_FIX,5554.28,-16557.83,010517,142529
$TT8_MAMPS,0.026964,0.241927
$HUMID,35.07
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.6,8.4
$24V_AH,23.60,18.870
$10V_AH,8.75,12.380
$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,45.850,50.800,52.475,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,269.681,60.363,144.102,708.758,27.173,33.407,410.809,0.000,720.445,0.000,7.039,0.000
$DEVICE_MAMPS,220.987,687.791,4380.012,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.938,92.290,154.850,415.189,697.154,0.000,0.000,0.000,0.000,0.000
$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,7415,72
$CAP_FILE_SIZE,24359,13
$CFSIZE,1024409600,1009221632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,155340,5709.249,-16454.838,2,0.7,13,11.1,0.8,4.5,11,5.0