version: 66.12
glider: 401
mission: 20
dive: 230
start: 5 2 117 6 46 21
data:
$ID,401
$MISSION,20
$DIVE,230
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,020517,063917,5707.2393,-16452.7637,2,0.8,15,11.1,0.8,286.4,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-37.9
$GPS2,020517,064518,5707.2671,-16452.8027,4,0.8,21,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.836,-16457.928
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.093551,-0.410342
$KALMAN_X,-13300.732422,-242.496613,-1080.242920,67330.851562,-187.920746
$KALMAN_Y,17715.439453,-179.783829,-337.089844,-30738.037109,208.148056
$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,-635.4,241,2181,1420,4094,0.0,0.0,0,37,0.00,0.00,-13.50,0.000,16390,0.000,0.000,241,2181,2922,2922,4095,0,0,0,0,0,0,25.98,25.17,25.99,9.88,36.25
$GC,39,-1.90,-635.4,241,2180,2922,4095,0.7,0.0,1,72,19.50,3.47,0.00,0.000,2308,0.420,0.295,1758,3360,2925,2925,4095,0,0,0,0,0,0,25.41,25.37,25.49,10.20,36.73
$GC,170,-1.90,-635.4,1757,3360,2927,4095,32.7,-14.5,11,183,0.00,3.15,0.00,0.000,1030,0.000,0.124,1758,2170,2927,2927,4095,0,0,0,0,0,0,25.75,25.71,25.79,10.19,35.82
$GC,246,-1.90,-635.4,1757,2167,2929,4094,43.3,-14.4,17,264,0.00,3.33,0.00,0.000,516,0.000,0.233,1758,977,2930,2930,4094,0,0,0,0,0,0,26.06,25.63,26.07,10.19,35.46
$GC,307,-1.90,-635.4,1757,977,2930,4094,51.5,-14.2,21,322,0.00,3.12,0.00,0.000,1030,0.000,0.142,1758,2158,2931,2931,4094,0,0,0,0,0,0,25.82,25.77,25.86,10.19,35.54
$STATE,348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,349,begin apogee
$GC,353,-0.50,0.0,1758,2058,2931,4095,58.0,-14.0,24,400,5.07,0.00,37.35,4.445,10244,0.219,0.000,2210,2058,2174,2174,4094,0,0,0,0,0,0,25.82,24.73,23.63,10.18,35.03
$STATE,402,end apogee,CONTROL_FINISHED_OK
$STATE,402,begin climb
$GC,403,1.90,635.4,2210,2058,2174,4094,61.8,0.0,27,472,8.48,3.38,37.17,4.343,10756,0.159,0.246,2973,896,1432,1432,4094,0,0,0,0,0,0,24.96,24.87,23.29,10.03,34.72
$GC,490,1.95,662.7,2972,896,1432,4094,56.2,9.4,32,509,0.00,3.20,3.12,1.636,9222,0.000,0.129,2973,2072,1406,1406,4094,0,0,0,0,0,0,24.89,24.84,23.63,9.89,34.17
$GC,572,1.95,662.7,2973,2071,1405,4094,45.3,13.4,38,587,0.00,3.55,0.00,0.000,260,0.000,0.273,2973,3271,1404,1404,4094,0,0,0,0,0,0,25.42,25.02,25.44,9.87,33.81
$GC,651,1.95,662.7,2973,3271,1403,4094,34.0,14.2,44,669,0.00,3.15,0.00,0.000,1030,0.000,0.122,2974,2102,1401,1401,4094,0,0,0,0,0,0,25.37,25.32,25.39,9.87,34.32
$GC,733,1.95,662.7,2973,2102,1400,4094,23.9,12.1,50,748,0.00,3.50,0.00,0.000,516,0.000,0.253,2973,879,1399,1399,4094,0,0,0,0,0,0,25.75,25.32,25.75,9.87,34.87
$GC,777,1.95,662.7,2973,879,1398,4094,18.3,12.9,53,796,0.00,3.22,0.00,0.000,1030,0.000,0.134,2974,2092,1398,1398,4094,0,0,0,0,0,0,25.53,25.49,25.57,9.87,34.72
$GC,859,1.95,662.7,2973,2092,1396,4094,8.4,12.3,59,878,0.00,3.42,0.00,0.000,260,0.000,0.281,2973,3265,1396,1396,4094,0,0,0,0,0,0,25.90,25.46,25.91,9.87,34.91
$STATE,893,end climb,FINISH_DEPTH_REACHED
$STATE,893,begin subsurface finish
$FINISH1,3.8,1.025278,-159
$GC,902,-0.26,-159.5,2973,2071,1395,4094,3.8,12.6,61,933,7.40,0.00,-8.35,0.000,20486,0.228,0.000,2322,2071,2366,2366,4094,0,0,0,0,0,0,25.65,25.17,25.68,9.88,34.56
$FINISH2,0.6
$STATE,934,end subsurface finish,CONTROL_FINISHED_OK
$STATE,934,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,055722
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.62
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,13.3
$24V_AH,23.29,22.439
$10V_AH,8.73,13.515
$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,40.450,39.900,77.650,0.000,0.000,25.644,23.947,203.677,0.500,0.000,22.515,238.173,0.000,123.108,904.053,56.150,33.439,399.786,0.000,625.515,0.000,8.706,0.000
$DEVICE_MAMPS,419.627,295.477,4444.571,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.334,80.581,135.469,350.493,601.304,0.000,0.000,0.000,0.000,0.000
$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,3947,63
$CAP_FILE_SIZE,25704,13
$CFSIZE,1024409600,1007206400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,064518,5707.267,-16452.803,4,0.8,21,11.1,0.0,0.0,11,4.9