version: 66.12
glider: 401
mission: 20
dive: 333
start: 5 3 117 19 39 52
data:
$ID,401
$MISSION,20
$DIVE,333
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$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,500
$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,100
$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,9
$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,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,33
$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
$GPS1,030517,192143,5650.7495,-16454.2930,5,0.9,19,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-0.6
$GPS2,030517,192143,5650.7495,-16454.2930,5,0.9,19,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.875,-16434.863
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.346058,-0.160117
$KALMAN_X,-7163.069824,222.896393,-297.242035,58450.324219,-150.254257
$KALMAN_Y,27180.257812,-1838.634277,-611.798950,-68856.437500,144.875916
$MHEAD_RNG_PITCHd_Wd,88.9,20000,-10.5,-9.667,-14.22,7537
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.95,-488.8,2322,2176,2358,4094,0.0,0.0,0,36,0.00,0.00,-1.83,0.000,16390,0.000,0.000,2322,2176,2754,2754,4094,0,0,0,0,0,0,26.17,24.55,26.14,10.08,36.02
$GC,38,-1.95,-488.8,2322,2176,2754,4094,5.5,0.0,1,53,5.93,2.08,0.00,0.000,4612,0.127,0.164,1774,1411,2755,2755,4094,0,0,0,0,0,0,25.54,25.42,25.57,10.17,36.49
$GC,69,-1.95,-488.8,1774,1411,2755,4094,9.6,-11.4,3,84,0.00,1.92,0.00,0.000,1030,0.000,0.119,1774,2154,2755,2755,4095,0,0,0,0,0,0,25.58,25.53,25.61,10.17,35.70
$GC,146,-1.95,-488.8,1774,2154,2757,4094,21.0,-15.3,9,161,0.00,2.00,0.00,0.000,516,0.000,0.154,1774,1408,2757,2757,4095,0,0,0,0,0,0,25.97,25.60,25.98,10.17,35.66
$GC,177,-1.95,-488.8,1773,1408,2758,4094,25.7,-15.3,11,192,0.00,1.88,0.00,0.000,1030,0.000,0.119,1774,2132,2758,2758,4094,0,0,0,0,0,0,25.73,25.68,25.77,10.17,36.06
$GC,256,-1.95,-488.8,1773,2132,2760,4094,36.2,-12.9,17,274,0.00,1.92,0.00,0.000,516,0.000,0.169,1774,1409,2760,2760,4094,0,0,1,0,0,0,26.09,25.71,26.10,10.16,35.39
$GC,304,-1.95,-488.8,1774,1409,2761,4095,42.8,-13.9,20,318,0.00,1.85,0.00,0.000,1030,0.000,0.122,1775,2126,2761,2761,4094,0,0,0,0,0,0,25.86,25.81,25.89,10.17,35.39
$GC,385,-1.95,-488.8,1774,2127,2763,4094,54.4,-13.8,26,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2127,2764,2764,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.16,35.15
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,423,-0.56,0.0,1774,2044,2764,4094,59.1,-13.9,28,467,4.68,0.05,29.52,4.469,10244,0.214,0.223,2191,2082,2173,2173,4095,0,0,0,0,0,0,25.88,24.60,23.78,10.16,35.11
$STATE,468,end apogee,CONTROL_FINISHED_OK
$STATE,468,begin climb
$GC,470,1.95,488.8,2191,2082,2173,4094,63.2,0.0,31,518,8.62,2.08,28.85,4.368,10500,0.124,0.214,2987,2815,1604,1604,4094,0,0,0,0,0,0,25.20,25.12,23.44,10.04,35.07
$GC,533,1.95,488.8,2987,2815,1604,4094,59.6,8.9,35,548,0.00,1.90,0.00,0.000,1030,0.000,0.102,2987,2105,1603,1603,4094,0,0,0,0,0,0,25.01,24.96,25.03,9.93,34.64
$GC,612,1.95,488.8,2987,2105,1601,4094,47.4,16.1,41,630,0.00,2.17,0.00,0.000,516,0.000,0.196,2988,1319,1601,1601,4094,0,0,0,0,0,0,25.56,25.19,25.56,9.93,34.91
$GC,671,1.95,488.8,2987,1319,1599,4094,37.8,16.4,45,689,0.00,1.88,0.00,0.000,1030,0.000,0.107,2988,2045,1599,1599,4094,0,0,0,0,0,0,25.44,25.41,25.48,9.93,34.72
$GC,753,1.95,488.8,2987,2045,1596,4094,24.7,16.0,51,772,0.00,2.22,0.00,0.000,260,0.000,0.219,2988,2835,1595,1595,4094,0,0,0,0,0,0,25.83,25.43,25.84,9.93,35.35
$GC,825,1.95,488.8,2987,2835,1594,4094,13.7,15.0,56,841,0.00,1.98,0.00,0.000,1030,0.000,0.109,2988,2083,1593,1593,4094,0,0,0,0,0,0,25.67,25.63,25.70,9.93,35.03
$GC,905,1.95,488.8,2987,2079,1591,4094,2.7,14.0,62,919,0.00,2.10,0.00,0.000,516,0.000,0.219,2988,1317,1591,1591,4094,0,0,0,0,0,0,26.01,25.62,26.03,9.93,35.19
$STATE,935,end climb,SURFACE_DEPTH_REACHED
$STATE,935,begin surface coast
$FINISH,0.1,1.013726
$STATE,962,end surface coast,CONTROL_FINISHED_OK
$STATE,963,begin surface
$SM_CCo,1062,0.00,0.000,0,0,1591,501.42
$SM_GC,0.81,29.38,2.20,0.00,0.089,0.104,0.000,231,2178,1591,-6.71,-1.00,501.42,0,0,1,0,0,0,25.49,25.79,25.73
$IRIDIUM_FIX,5554.28,-16557.83,030517,183531
$TT8_MAMPS,0.026964,0.258405
$HUMID,35.03
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.5
$24V_AH,23.44,33.071
$10V_AH,8.60,16.253
$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,48.600,28.650,58.375,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,254.060,60.155,132.946,639.859,31.208,33.415,397.663,0.000,651.603,0.000,5.446,0.000
$DEVICE_MAMPS,213.538,223.470,4469.400,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.335,84.431,141.896,367.210,627.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,7330,66
$CAP_FILE_SIZE,23352,8
$CFSIZE,1024409600,1002143744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,195826,5650.903,-16453.967,3,0.9,18,11.1,0.0,0.0,9,5.0