version: 66.12
glider: 401
mission: 20
dive: 234
start: 5 2 117 8 14 8
data:
$ID,401
$MISSION,20
$DIVE,234
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,020517,080740,5707.2437,-16452.5293,3,0.9,31,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-33.8
$GPS2,020517,081305,5707.2827,-16452.4941,4,0.9,17,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.852,-16457.619
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.177077,-0.378781
$KALMAN_X,-13128.064453,-440.251343,-874.999512,67448.617188,161.829956
$KALMAN_Y,19098.556641,3.947399,-24.125881,-32589.677734,263.727417
$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,-635.4,232,2182,1419,4094,0.0,0.0,0,34,0.00,0.00,-13.50,0.000,16390,0.000,0.000,232,2182,2921,2921,4094,0,0,0,0,0,0,25.99,24.47,26.01,9.88,36.17
$GC,36,-1.90,-635.4,231,2182,2922,4094,0.7,0.0,1,69,19.33,3.47,0.00,0.000,2308,0.415,0.300,1759,3355,2924,2924,4094,0,0,0,0,0,0,25.50,25.46,25.58,10.20,36.10
$GC,85,-1.90,-635.4,1758,3355,2925,4094,18.7,-36.6,4,100,0.00,3.15,0.00,0.000,1030,0.000,0.129,1759,2170,2926,2926,4094,0,0,0,0,0,0,25.71,25.67,25.74,10.20,35.94
$GC,163,-1.90,-635.4,1758,2166,2927,4094,31.0,-15.3,10,178,0.00,3.50,0.00,0.000,260,0.000,0.308,1759,3355,2927,2927,4095,0,0,1,0,0,0,26.03,25.56,26.05,10.20,35.70
$GC,241,-1.90,-635.4,1758,3355,2929,4094,42.4,-13.6,16,256,0.00,3.12,0.00,0.000,1030,0.000,0.124,1759,2169,2929,2929,4094,0,0,0,0,0,0,25.86,25.86,25.88,10.19,36.10
$GC,324,-1.90,-635.4,1759,2166,2931,4095,53.7,-14.1,22,338,0.00,3.30,0.00,0.000,516,0.000,0.223,1759,973,2931,2931,4094,0,0,0,0,0,0,26.17,25.76,26.18,10.19,35.07
$STATE,354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,354,begin apogee
$GC,361,-0.50,0.0,1758,2068,2932,4094,58.5,-14.7,24,407,5.05,0.00,37.42,4.489,10244,0.214,0.000,2211,2068,2174,2174,4095,0,0,0,0,0,0,25.86,24.76,23.64,10.19,35.50
$STATE,408,end apogee,CONTROL_FINISHED_OK
$STATE,409,begin climb
$GC,410,1.90,635.4,2211,2068,2174,4094,62.9,0.0,27,462,8.40,3.55,36.97,4.378,10500,0.151,0.268,2972,3266,1433,1433,4094,0,0,0,0,0,0,24.98,24.88,23.32,10.03,34.76
$GC,478,1.90,635.4,2971,3266,1432,4094,59.0,8.9,31,494,0.00,3.30,0.03,0.000,9222,0.000,0.122,2972,2077,1432,1432,4094,0,0,0,0,0,0,24.82,24.74,24.82,9.88,34.48
$GC,557,1.90,635.4,2971,2076,1430,4094,49.0,13.2,37,572,0.00,3.50,0.00,0.000,516,0.000,0.258,2972,870,1430,1430,4094,0,0,0,0,0,0,25.40,25.00,25.41,9.88,34.09
$GC,623,1.90,635.4,2972,870,1429,4094,40.4,12.8,42,638,0.00,3.22,0.00,0.000,1030,0.000,0.132,2972,2075,1428,1428,4094,0,0,0,0,0,0,25.32,25.27,25.35,9.87,34.13
$GC,700,1.90,635.4,2971,2074,1427,4094,30.3,13.9,48,715,0.00,3.50,0.00,0.000,260,0.000,0.276,2972,3265,1426,1426,4094,0,0,0,0,0,0,25.72,25.29,25.72,9.87,34.28
$GC,755,1.90,635.4,2971,3265,1425,4094,22.8,13.6,52,774,0.00,3.15,0.00,0.000,1030,0.000,0.124,2972,2090,1424,1424,4094,0,0,0,0,0,0,25.54,25.48,25.56,9.88,34.80
$GC,836,1.90,635.4,2972,2089,1422,4094,12.0,13.5,58,851,0.00,3.47,0.00,0.000,516,0.000,0.256,2972,868,1422,1422,4094,0,0,0,0,0,0,25.89,25.46,25.91,9.88,35.43
$GC,880,1.90,635.4,2971,868,1421,4094,6.4,13.0,61,894,0.00,3.25,0.00,0.000,1030,0.000,0.137,2972,2093,1421,1421,4094,0,0,0,0,0,0,25.67,25.61,25.70,9.88,35.07
$STATE,909,end climb,FINISH_DEPTH_REACHED
$STATE,909,begin subsurface finish
$FINISH1,2.7,1.025280,-160
$GC,914,-0.26,-159.6,2972,2093,1420,4094,2.7,12.4,63,947,7.38,0.00,-8.73,0.000,20742,0.226,0.000,2322,2096,2366,2366,4094,0,0,0,0,0,0,25.66,25.16,25.71,9.88,35.03
$FINISH2,0.3
$STATE,948,end subsurface finish,CONTROL_FINISHED_OK
$STATE,948,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,072429
$TT8_MAMPS,0.026215,0.263648
$HUMID,35.11
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,9.6
$24V_AH,23.32,22.848
$10V_AH,8.71,13.625
$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,40.150,46.375,74.425,0.000,0.000,22.513,17.492,193.179,0.500,0.000,18.857,249.128,0.000,112.354,880.671,55.891,33.435,397.127,0.000,637.668,0.000,8.695,0.000
$DEVICE_MAMPS,414.661,307.892,4489.264,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.652,83.124,139.739,356.947,612.954,0.000,0.000,0.000,0.000,0.000
$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,7375,65
$CAP_FILE_SIZE,26302,8
$CFSIZE,1024409600,1007009792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,081305,5707.283,-16452.494,4,0.9,17,11.1,0.0,0.0,9,5.0