version: 66.12
glider: 401
mission: 20
dive: 225
start: 5 2 117 4 48 12
data:
$ID,401
$MISSION,20
$DIVE,225
$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,4
$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,650
$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,195
$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,19
$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,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
$GPS1,020517,042906,5707.6724,-16450.8359,4,0.8,15,11.1,0.0,0.0,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-0.3
$GPS2,020517,042906,5707.6724,-16450.8359,4,0.8,15,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5657.241,-16455.961
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.225687,-0.356532
$KALMAN_X,-11455.863281,555.492920,-635.703125,66208.640625,-379.788391
$KALMAN_Y,16488.351562,-117.880608,-441.278870,-28721.560547,17.988335
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-8.9,-9.667,-12.86,9731
$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,-1.90,-635.4,2316,2159,2362,4094,0.0,0.0,0,37,0.00,0.00,-5.53,0.000,16390,0.000,0.000,2316,2160,2913,2913,4095,0,0,0,0,0,0,25.93,25.10,25.94,10.07,34.95
$GC,39,-1.90,-635.4,2316,2160,2912,4094,0.0,0.0,1,54,5.78,0.00,0.00,0.000,4102,0.144,0.000,1790,2159,2913,2913,4095,0,0,0,0,0,0,25.36,25.41,25.39,10.19,35.54
$GC,117,-1.90,-635.4,1789,2159,2914,4094,9.0,-11.4,7,131,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2158,2915,2915,4095,0,0,0,0,0,0,25.79,25.80,25.80,10.19,35.31
$GC,194,-1.90,-635.4,1789,2159,2916,4094,19.2,-13.7,13,208,0.00,3.30,0.00,0.000,516,0.000,0.221,1790,977,2917,2917,4094,0,0,0,0,0,0,25.91,25.48,25.91,10.19,35.54
$GC,248,-1.90,-635.4,1789,977,2917,4095,26.6,-13.5,17,267,0.00,3.03,0.00,0.000,1030,0.000,0.137,1790,2119,2918,2918,4095,0,0,0,0,0,0,25.70,25.64,25.73,10.19,34.95
$GC,330,-1.90,-635.4,1789,2119,2919,4094,37.0,-13.1,23,349,0.00,3.60,0.00,0.000,260,0.000,0.303,1789,3347,2920,2920,4095,0,0,0,0,0,0,26.05,25.58,26.06,10.18,35.19
$GC,377,-1.90,-635.4,1789,3347,2920,4094,43.4,-13.6,26,392,0.00,3.20,0.00,0.000,1030,0.000,0.127,1789,2125,2921,2921,4094,0,0,0,0,0,0,25.82,25.78,25.87,10.18,34.87
$GC,460,-1.90,-635.4,1789,2125,2922,4095,53.3,-12.3,32,478,0.00,3.17,0.00,0.000,516,0.000,0.228,1789,984,2922,2922,4095,0,0,0,0,0,0,26.15,25.72,26.15,10.18,35.31
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,512,-0.50,0.0,1789,2060,2923,4095,59.8,-13.2,35,570,4.68,0.00,36.80,4.492,10244,0.201,0.000,2210,2061,2178,2178,4094,0,0,0,0,0,0,25.85,24.46,23.67,10.18,35.39
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,572,1.90,635.4,2210,2060,2178,4094,63.6,0.0,39,624,8.38,0.00,37.22,4.405,11270,0.129,0.000,2972,2060,1433,1433,4094,0,0,0,0,0,0,25.16,25.33,23.30,10.02,34.44
$GC,687,1.90,635.4,2972,2060,1431,4094,54.1,12.7,47,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2061,1431,1431,4094,0,0,0,0,0,0,25.28,25.29,25.29,9.87,33.73
$GC,768,1.90,635.4,2971,2060,1429,4095,43.6,12.7,53,786,0.00,3.38,0.00,0.000,516,0.000,0.243,2972,894,1429,1429,4094,0,0,0,0,0,0,25.53,25.12,25.54,9.87,34.17
$GC,803,1.90,635.4,2972,894,1428,4094,39.1,12.8,55,818,0.00,3.15,0.00,0.000,1030,0.000,0.132,2972,2070,1428,1428,4095,0,0,0,0,0,0,25.32,25.29,25.37,9.87,34.20
$GC,881,1.90,635.4,2972,2070,1426,4094,29.2,12.4,61,900,0.00,3.50,0.00,0.000,260,0.000,0.276,2972,3264,1426,1426,4094,0,0,0,0,0,0,25.73,25.30,25.75,9.87,34.32
$GC,916,1.90,635.4,2972,3264,1425,4094,24.9,12.5,63,935,0.00,3.12,0.00,0.000,1030,0.000,0.122,2972,2096,1424,1424,4094,0,0,0,0,0,0,25.53,25.48,25.56,9.88,34.01
$GC,999,1.90,635.4,2972,2096,1422,4094,14.0,12.9,69,1017,0.00,3.45,0.00,0.000,516,0.000,0.251,2973,880,1422,1422,4094,0,0,0,0,0,0,25.88,25.45,25.89,9.87,35.23
$GC,1034,1.90,635.4,2972,880,1421,4094,9.5,13.1,71,1052,0.00,3.17,0.00,0.000,1030,0.000,0.134,2972,2080,1421,1421,4094,0,0,0,0,0,0,25.65,25.60,25.68,9.88,34.91
$STATE,1091,end climb,SURFACE_DEPTH_REACHED
$STATE,1091,begin surface coast
$FINISH,0.0,1.001595
$STATE,1119,end surface coast,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$SM_CCo,1216,0.00,0.000,0,0,1419,649.10
$SM_GC,0.67,29.10,0.20,0.00,0.089,0.201,0.000,232,2184,1419,-6.71,-1.00,649.10,0,0,1,0,0,0,25.52,25.74,25.70
$IRIDIUM_FIX,5554.28,-16557.83,020517,042206
$TT8_MAMPS,0.026964,0.265895
$HUMID,35.19
$INTERNAL_PRESSURE,9.80862
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,9.5
$24V_AH,23.30,21.907
$10V_AH,8.69,13.376
$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,47.925,42.000,74.025,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,279.078,59.969,158.159,747.481,29.559,33.414,453.767,0.000,759.594,0.000,5.447,0.000
$DEVICE_MAMPS,201.123,302.926,4491.747,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.176,98.629,165.542,428.025,734.913,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7416,77
$CAP_FILE_SIZE,24628,13
$CFSIZE,1024409600,1007452160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,050914,5707.417,-16451.660,2,0.7,13,11.1,0.7,327.7,11,5.0