version: 66.12
glider: 401
mission: 20
dive: 213
start: 5 2 117 0 18 56
data:
$ID,401
$MISSION,20
$DIVE,213
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$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,14
$R_STBD_OVSHOOT,25
$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,16
$ALTIM_PULSE,2
$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
$GPS1,020517,000050,5709.6353,-16448.1406,4,0.8,17,11.1,0.0,0.0,10,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-0.8
$GPS2,020517,000050,5709.6353,-16448.1406,4,0.8,17,11.1,0.0,0.0,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,SE
$TGT_LATLONG,5639.910,-16352.230
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.304609,-0.200861
$KALMAN_X,-7577.363770,2001.569214,665.465820,62291.042969,-80.514282
$KALMAN_Y,16314.150391,612.369263,310.268311,-26391.876953,-39.025085
$MHEAD_RNG_PITCHd_Wd,112.3,79173,-11.2,-9.667,-14.84,6773
$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,-438.2,2401,2179,2180,4094,0.0,0.0,0,37,0.00,0.00,-5.05,0.000,16390,0.000,0.000,2401,2179,2686,2686,4094,0,0,0,0,0,0,26.10,25.25,26.11,10.03,34.95
$GC,39,-1.82,-438.2,2401,2179,2687,4094,0.0,0.0,1,58,6.40,3.40,0.00,0.000,4612,0.109,0.216,1804,973,2687,2687,4094,0,0,0,0,0,0,25.51,25.37,25.53,10.14,35.39
$GC,110,-1.82,-438.2,1803,973,2688,4095,7.6,-11.5,6,124,0.00,3.15,0.00,0.000,1030,0.000,0.139,1803,2155,2688,2688,4094,0,0,0,0,0,0,25.61,25.53,25.64,10.14,35.11
$GC,188,-1.82,-438.2,1803,2155,2690,4094,18.8,-14.3,12,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2155,2691,2691,4095,0,0,0,0,0,0,25.99,26.01,26.01,10.14,35.07
$GC,265,-1.82,-438.2,1803,2155,2693,4095,29.7,-14.0,18,280,0.00,3.30,0.00,0.000,516,0.000,0.216,1803,972,2692,2692,4095,0,0,0,0,0,0,26.07,25.70,26.08,10.13,35.39
$GC,296,-1.82,-438.2,1803,972,2693,4094,34.1,-14.0,20,314,0.00,3.12,0.00,0.000,1030,0.000,0.139,1803,2154,2693,2693,4094,0,0,0,0,0,0,25.81,25.75,25.84,10.13,35.39
$GC,378,-1.82,-438.2,1802,2154,2695,4095,45.4,-13.5,26,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2153,2696,2696,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.12,34.52
$GC,463,-1.82,-438.2,1802,2154,2697,4094,57.3,-14.0,32,477,0.00,3.28,0.00,0.000,516,0.000,0.219,1803,973,2697,2697,4095,0,0,0,0,0,0,26.21,25.79,26.22,10.12,35.19
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,501,-0.50,0.0,1803,2080,2698,4095,61.6,-14.0,34,544,4.57,0.00,26.33,4.517,10244,0.231,0.000,2209,2080,2177,2177,4094,0,0,0,0,0,0,25.86,24.70,23.86,10.12,34.56
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,547,1.82,438.2,2209,2080,2177,4094,66.2,0.0,37,598,8.00,3.50,25.90,4.464,10500,0.142,0.281,2948,3267,1667,1667,4094,0,0,0,0,0,0,25.25,25.14,23.49,10.01,34.13
$GC,614,1.82,438.2,2947,3267,1666,4094,62.7,8.5,41,629,0.00,3.25,0.25,0.010,9222,0.000,0.119,2948,2078,1666,1666,4094,0,0,0,0,0,0,25.06,25.01,25.09,9.92,33.97
$GC,693,1.82,438.2,2947,2078,1664,4094,52.5,13.2,47,707,0.00,3.45,0.00,0.000,516,0.000,0.258,2948,875,1663,1663,4094,0,0,0,0,0,0,25.59,25.22,25.60,9.91,34.24
$GC,770,1.82,438.2,2947,875,1662,4094,42.1,13.4,53,785,0.00,3.17,0.03,0.012,9222,0.000,0.132,2948,2069,1662,1662,4094,0,0,0,0,0,0,25.50,25.44,25.53,9.91,33.89
$GC,848,1.82,438.2,2947,2069,1660,4094,31.8,13.2,59,862,0.00,3.50,0.00,0.000,260,0.000,0.268,2948,3274,1659,1659,4094,0,0,0,0,0,0,25.87,25.42,25.88,9.91,34.24
$GC,913,1.82,438.2,2947,3274,1657,4094,22.6,14.8,64,928,0.00,3.17,0.00,0.000,1030,0.000,0.119,2948,2080,1657,1657,4094,0,0,0,0,0,0,25.69,25.64,25.72,9.91,34.20
$GC,990,1.82,438.2,2947,2080,1655,4094,12.1,13.0,70,1009,0.00,3.38,0.00,0.000,516,0.000,0.253,2948,883,1655,1655,4094,0,0,0,0,0,0,26.03,25.62,26.03,9.91,34.48
$GC,1036,1.82,438.2,2947,883,1654,4094,6.0,13.3,73,1051,0.00,3.17,0.00,0.000,1030,0.000,0.137,2948,2090,1654,1654,4094,0,0,0,0,0,0,25.79,25.75,25.83,9.92,34.76
$STATE,1065,end climb,SURFACE_DEPTH_REACHED
$STATE,1065,begin surface coast
$FINISH,0.0,1.025260
$STATE,1093,end surface coast,CONTROL_FINISHED_OK
$STATE,1093,begin surface
$SM_CCo,1190,0.00,0.000,0,0,1653,448.19
$SM_GC,1.01,28.80,0.20,0.00,0.094,0.226,0.000,231,2188,1653,-6.71,-0.64,448.19,0,0,1,0,0,0,25.56,25.82,25.78
$IRIDIUM_FIX,5554.28,-16557.83,010517,235407
$TT8_MAMPS,0.026964,0.261401
$HUMID,34.87
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,23.49,20.868
$10V_AH,8.71,13.037
$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,47.775,46.175,52.500,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,284.047,60.161,138.195,733.914,27.848,33.415,419.695,0.000,746.905,0.000,5.811,0.000
$DEVICE_MAMPS,230.919,280.579,4516.577,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.310,98.672,165.538,419.313,722.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344724
$DATA_FILE_SIZE,7390,77
$CAP_FILE_SIZE,24988,8
$CFSIZE,1024409600,1008041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,003936,5709.288,-16447.908,2,0.8,17,11.1,0.0,0.0,10,4.8