version: 66.12
glider: 401
mission: 20
dive: 204
start: 5 1 117 21 5 45
data:
$ID,401
$MISSION,20
$DIVE,204
$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,115
$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,2380
$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,55
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,29
$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
$GPS1,010517,205933,5710.4580,-16450.3848,2,0.9,28,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-44.0
$GPS2,010517,210444,5710.4961,-16450.3477,4,0.9,14,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5705.932,-16432.330
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.044232,-0.363143
$KALMAN_X,-7806.197266,1862.377563,482.498383,60611.445312,185.724762
$KALMAN_Y,14945.162109,389.036224,538.533142,-23436.517578,324.169830
$MHEAD_RNG_PITCHd_Wd,103.9,20000,-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,-1.82,-439.9,241,2183,1612,4094,0.0,0.0,0,37,0.00,0.00,-9.80,0.000,16390,0.000,0.000,241,2183,2692,2692,4094,0,0,0,0,0,0,26.03,25.19,26.05,9.91,36.25
$GC,39,-1.82,-439.9,241,2183,2693,4095,0.9,0.0,1,72,19.98,3.38,0.00,0.000,2564,0.427,0.196,1784,972,2695,2695,4095,1,0,0,0,0,0,25.32,25.37,25.46,10.14,35.94
$GC,159,-1.82,-439.9,1784,972,2698,4095,31.4,-16.5,10,177,0.00,3.12,0.00,0.000,1030,0.000,0.137,1784,2152,2697,2697,4094,0,0,0,0,0,0,25.68,25.63,25.72,10.13,35.70
$GC,242,-1.82,-439.9,1784,2151,2700,4094,43.1,-13.8,16,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2152,2700,2700,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.13,35.07
$GC,325,-1.82,-439.9,1784,2152,2702,4094,55.1,-14.3,22,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2152,2702,2702,4095,0,0,0,0,0,0,26.12,26.14,26.13,10.13,34.91
$STATE,358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,358,begin apogee
$GC,363,-0.50,0.0,1784,2041,2703,4095,59.7,-14.1,24,414,4.82,0.08,26.55,4.462,10244,0.241,0.204,2209,2086,2174,2174,4095,0,0,0,0,0,0,25.80,24.79,23.82,10.12,34.60
$STATE,415,end apogee,CONTROL_FINISHED_OK
$STATE,415,begin climb
$GC,417,1.82,439.9,2209,2086,2174,4094,64.2,0.0,27,467,8.10,0.00,26.25,4.405,11270,0.144,0.000,2944,2086,1660,1660,4094,0,0,0,0,0,0,25.31,25.51,23.47,10.01,34.44
$GC,531,1.82,439.9,2943,2086,1658,4094,54.5,13.4,35,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2086,1657,1657,4094,0,0,0,0,0,0,25.48,25.50,25.49,9.92,34.20
$GC,611,1.82,439.9,2943,2086,1655,4094,43.6,12.9,41,629,0.00,3.40,0.00,0.000,260,0.000,0.261,2944,3252,1655,1655,4094,0,0,0,0,0,0,25.69,25.28,25.70,9.91,33.97
$GC,656,1.82,439.9,2943,3252,1654,4094,37.2,13.9,44,671,0.00,3.03,0.00,0.000,1030,0.000,0.119,2944,2119,1654,1654,4094,0,0,0,0,0,0,25.52,25.48,25.55,9.91,34.64
$GC,735,1.82,439.9,2943,2119,1651,4094,26.0,14.0,50,753,0.00,3.53,0.00,0.000,516,0.000,0.251,2943,881,1651,1651,4094,0,0,0,0,0,0,25.88,25.46,25.89,9.91,34.09
$GC,792,1.82,439.9,2943,880,1650,4094,18.3,13.3,54,807,0.00,3.12,0.00,0.000,1030,0.000,0.132,2944,2066,1649,1649,4094,0,0,0,0,0,0,25.68,25.63,25.72,9.92,34.36
$GC,869,1.82,439.9,2943,2066,1647,4094,8.4,12.7,60,888,0.00,3.47,0.00,0.000,260,0.000,0.273,2944,3266,1647,1647,4094,0,0,0,0,0,0,26.02,25.58,26.03,9.92,34.95
$STATE,914,end climb,FINISH_DEPTH_REACHED
$STATE,914,begin subsurface finish
$FINISH1,1.9,1.025275,-159
$GC,922,-0.25,-159.3,2944,2075,1646,4094,1.9,13.8,63,952,6.62,3.62,-6.95,0.000,20996,0.104,4.234,2316,878,2365,2365,4094,0,0,0,0,0,0,25.82,24.29,25.84,9.92,35.46
$FINISH2,0.0
$STATE,953,end subsurface finish,CONTROL_FINISHED_OK
$STATE,953,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,201759
$TT8_MAMPS,0.026215,0.266644
$HUMID,35.19
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,8.4
$24V_AH,23.47,20.191
$10V_AH,8.71,12.791
$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,39.525,30.125,52.800,0.000,0.000,25.639,21.543,175.160,0.500,0.000,15.741,242.378,0.000,119.626,872.705,53.141,33.433,389.493,0.000,642.246,0.000,7.899,0.000
$DEVICE_MAMPS,427.076,4233.515,4461.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.899,83.205,139.758,358.977,617.716,0.000,0.000,0.000,0.000,0.000
$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,7385,65
$CAP_FILE_SIZE,24574,12
$CFSIZE,1024409600,1008484352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0,0
$GPS,010517,210444,5710.496,-16450.348,4,0.9,14,11.1,0.0,0.0,9,5.0