version: 66.12
glider: 401
mission: 20
dive: 190
start: 5 1 117 15 59 32
data:
$ID,401
$MISSION,20
$DIVE,190
$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,550
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10
$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,1900
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,32
$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
$GPS1,010517,155340,5709.2485,-16454.8379,2,0.7,13,11.1,0.8,4.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-45.7
$GPS2,010517,155828,5709.2485,-16454.8926,5,0.7,15,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.396
$TGT_NAME,HEADING
$TGT_LATLONG,5705.555,-16436.213
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.395413,0.026840
$KALMAN_X,-8389.722656,2188.540771,833.421753,55978.695312,-308.392639
$KALMAN_Y,11299.367188,-415.975769,-691.989624,-20055.345703,-92.926178
$MHEAD_RNG_PITCHd_Wd,98.9,20000,-9.9,-9.667,-13.71,8272
$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,-1.85,-537.6,231,1903,1649,4094,0.0,0.0,0,37,0.00,0.00,-10.52,0.000,16390,0.000,0.000,232,1903,2805,2805,4094,0,0,0,0,0,0,26.04,25.19,26.05,9.90,36.21
$GC,39,-1.85,-537.6,232,1903,2806,4095,0.9,0.0,1,77,19.90,4.03,0.00,0.000,2564,0.425,0.251,1786,481,2808,2808,4094,0,0,0,0,0,0,25.38,25.38,25.48,10.14,35.66
$GC,117,-1.85,-537.6,1785,481,2810,4094,26.0,-30.1,6,131,0.00,3.72,0.00,0.000,1030,0.000,0.142,1786,1886,2811,2811,4095,0,0,0,0,0,0,25.65,25.60,25.67,10.15,36.06
$GC,196,-1.85,-537.6,1785,1886,2812,4094,37.2,-14.1,12,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1886,2812,2812,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.14,35.11
$GC,278,-1.85,-537.6,1785,1886,2814,4095,48.7,-14.1,18,299,0.00,4.12,0.00,0.000,260,0.000,0.286,1786,3307,2814,2814,4094,0,0,0,0,0,0,26.09,25.62,26.10,10.14,34.99
$GC,315,-1.85,-537.6,1785,3307,2815,4094,54.2,-14.5,20,334,0.00,3.75,0.00,0.000,1030,0.000,0.137,1786,1901,2816,2816,4094,0,0,0,0,0,0,25.84,25.77,25.86,10.14,34.99
$STATE,347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,348,begin apogee
$GC,352,-0.50,0.0,1786,2043,2816,4094,59.0,-14.3,22,403,4.93,0.00,31.60,4.484,10244,0.238,0.000,2220,2043,2175,2175,4094,0,0,0,0,0,0,25.80,24.51,23.71,10.14,35.11
$STATE,404,end apogee,CONTROL_FINISHED_OK
$STATE,404,begin climb
$GC,405,1.85,537.6,2219,2043,2175,4094,62.7,0.0,25,452,8.23,0.00,31.65,4.407,11270,0.146,0.000,2965,2043,1547,1547,4094,0,0,0,0,0,0,25.20,25.37,23.37,10.01,34.28
$GC,515,1.85,537.6,2965,2043,1546,4094,53.2,13.3,33,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2043,1545,1545,4094,0,0,0,0,0,0,25.37,25.38,25.38,9.89,33.85
$GC,596,1.85,537.6,2964,2043,1543,4094,42.0,14.0,39,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2043,1543,1543,4094,0,0,0,0,0,0,25.60,25.62,25.62,9.88,33.93
$GC,677,1.85,537.6,2965,2043,1541,4094,30.8,13.7,45,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2043,1540,1540,4094,0,0,0,0,0,0,25.75,25.77,25.77,9.88,34.24
$GC,757,1.85,537.6,2964,2043,1539,4094,20.0,13.4,51,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2043,1538,1538,4094,0,0,0,0,0,0,25.86,25.88,25.89,9.88,34.83
$GC,838,1.85,537.6,2965,2043,1536,4094,9.0,13.4,57,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2043,1535,1535,4094,0,0,0,0,0,0,25.96,25.97,25.97,9.89,34.87
$STATE,882,end climb,FINISH_DEPTH_REACHED
$STATE,882,begin subsurface finish
$FINISH1,2.7,1.025330,-163
$GC,887,-0.26,-163.1,2965,2043,1534,4094,2.7,13.8,60,907,7.00,0.00,-7.80,0.000,20486,0.174,0.000,2325,2043,2369,2369,4094,0,0,0,0,0,0,25.77,24.58,25.79,9.89,35.15
$FINISH2,0.2
$STATE,908,end subsurface finish,CONTROL_FINISHED_OK
$STATE,908,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,151011
$TT8_MAMPS,0.026215,0.249417
$HUMID,35.74
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,8.5
$24V_AH,23.37,18.964
$10V_AH,8.75,12.406
$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,40.050,16.375,63.250,0.000,0.000,25.909,21.538,155.460,0.500,0.000,16.384,229.307,0.000,121.621,822.352,49.134,33.458,384.015,0.000,610.242,0.000,7.310,0.000
$DEVICE_MAMPS,424.593,300.443,4484.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.184,78.069,131.193,343.153,586.907,0.000,0.000,0.000,0.000,0.000
$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,3898,61
$CAP_FILE_SIZE,23376,15
$CFSIZE,1024409600,1009172480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,155828,5709.249,-16454.893,5,0.7,15,11.1,0.0,0.0,11,4.9