version: 66.12
glider: 401
mission: 20
dive: 368
start: 5 4 117 8 26 2
data:
$ID,401
$MISSION,20
$DIVE,368
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,040517,081936,5650.4434,-16449.5410,5,0.8,34,11.1,0.5,0.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-42.3
$GPS2,040517,082459,5650.4688,-16449.5820,5,0.8,16,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.593,-16430.154
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.291260,-0.245785
$KALMAN_X,-13980.896484,-524.888733,-654.520691,71089.656250,-93.300964
$KALMAN_Y,28548.441406,-789.258545,-282.519653,-72131.171875,249.343903
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.95,-488.8,241,2190,1589,4094,0.0,0.0,0,36,0.00,0.00,-10.12,0.000,16390,0.000,0.000,242,2190,2747,2747,4095,0,0,0,0,0,0,26.07,25.20,26.08,9.93,36.33
$GC,39,-1.95,-488.8,241,2190,2748,4094,0.8,0.0,1,72,19.15,2.08,0.00,0.000,2564,0.415,0.146,1744,1405,2751,2751,4094,0,0,0,0,0,0,25.45,25.51,25.50,10.17,36.65
$GC,264,-1.95,-488.8,1743,1405,2756,4094,48.7,-16.1,19,284,0.00,1.95,0.00,0.000,1030,0.000,0.122,1744,2161,2757,2757,4094,0,0,0,0,0,0,25.85,25.79,25.89,10.18,36.29
$STATE,322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,322,begin apogee
$GC,327,-0.56,0.0,1743,2042,2758,4094,58.0,-15.6,23,371,5.10,0.08,29.25,4.432,10246,0.226,0.204,2194,2089,2173,2173,4094,0,0,0,0,0,0,25.83,24.58,23.74,10.18,35.86
$STATE,372,end apogee,CONTROL_FINISHED_OK
$STATE,372,begin climb
$GC,374,1.95,488.8,2194,2089,2173,4094,62.4,0.0,26,424,8.68,0.00,28.58,4.320,10246,0.124,0.000,2984,2089,1609,1609,4094,0,0,0,0,0,0,25.29,24.21,23.45,10.05,35.58
$GC,487,1.95,488.8,2984,2089,1607,4094,51.5,14.8,34,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2089,1607,1607,4094,0,0,0,0,0,0,25.48,25.49,25.49,9.95,35.23
$GC,563,1.95,488.8,2984,2089,1605,4094,39.3,15.6,40,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2089,1604,1604,4094,0,0,0,0,0,0,25.68,25.70,25.70,9.94,35.19
$GC,645,1.95,488.8,2984,2089,1602,4094,26.3,16.6,46,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2089,1601,1601,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.94,35.58
$GC,726,1.95,488.8,2985,2089,1599,4094,14.7,13.4,52,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2089,1599,1599,4094,0,0,0,0,0,0,25.94,25.96,25.95,9.94,35.19
$STATE,802,end climb,FINISH_DEPTH_REACHED
$STATE,802,begin subsurface finish
$FINISH1,3.8,1.025208,-155
$GC,808,-0.25,-154.5,2984,2089,1596,4094,3.8,13.6,58,841,7.62,2.12,-6.38,0.000,20996,0.238,4.117,2320,1345,2357,2357,4094,0,0,2,0,0,0,25.72,24.09,25.77,9.94,35.27
$FINISH2,0.6
$STATE,842,end subsurface finish,CONTROL_FINISHED_OK
$STATE,842,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,073902
$TT8_MAMPS,0.026964,0.280126
$HUMID,35.98
$INTERNAL_PRESSURE,10.0332
$TCM_TEMP,0.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,10.2
$24V_AH,23.45,36.050
$10V_AH,8.41,17.178
$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,40.550,6.425,57.825,0.000,0.000,37.826,17.043,164.675,0.500,0.000,17.305,218.901,0.000,91.237,808.507,69.871,33.433,314.069,0.000,585.944,0.000,8.689,0.000
$DEVICE_MAMPS,414.661,4116.814,4432.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.577,76.850,129.017,323.228,561.876,0.000,0.000,0.000,0.000,0.000
$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,3865,60
$CAP_FILE_SIZE,19791,7
$CFSIZE,1024409600,1000423424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$GPS,040517,082459,5650.469,-16449.582,5,0.8,16,11.1,0.0,0.0,10,5.0