version: 66.12
glider: 401
mission: 21
dive: 1
start: 6 20 117 17 6 53
data:
$ID,401
$MISSION,21
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,45
$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,15
$T_MISSION,25
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73516
$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,-1
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$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,2551
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$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,33
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2146
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$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,-50.607449
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$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,0
$GPS1,200617,170149,4743.1748,-12224.5332,3,0.8,31,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-35.9
$GPS2,200617,170549,4743.1255,-12224.5215,5,0.9,51,16.3,0.0,0.0,10,5.3
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.082970,-0.277178
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,180.4,1209,-16.1,-10.000,-19.07,3691
$D_GRID,177
$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,-1.63,-244.4,243,2156,62,4094,0.0,0.0,0,32,0.00,0.00,-13.95,0.000,16386,0.000,0.000,243,2156,1991,1991,4095,0,0,0,0,0,0,26.96,28.83,26.98,10.37,44.13
$GC,34,-1.63,-244.4,243,2156,1991,4094,0.8,0.0,1,67,20.98,3.40,-1.80,0.000,18692,0.370,4.015,2017,3351,2440,2440,4094,0,0,0,0,0,0,26.43,25.01,26.58,10.79,44.76
$GC,125,-1.63,-244.4,2017,3351,2442,4094,14.9,-13.5,14,134,0.00,2.90,0.00,0.000,1030,0.000,0.089,2017,2177,2443,2443,4095,0,0,0,0,0,0,26.53,26.51,26.56,10.86,44.60
$GC,165,-1.63,-244.4,2017,2176,2444,4095,20.3,-14.0,18,174,0.00,3.12,0.00,0.000,516,0.000,0.194,2018,981,2444,2444,4094,0,0,0,0,0,0,26.84,26.40,26.85,10.85,44.72
$GC,276,-1.63,-244.4,2017,981,2448,4095,37.0,-15.4,35,285,0.00,2.83,0.00,0.000,1030,0.000,0.099,2017,2132,2448,2448,4094,0,0,0,0,0,0,26.63,26.60,26.66,10.82,43.73
$GC,315,-1.63,-244.4,2017,2133,2449,4094,42.9,-14.8,39,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2134,2449,2449,4094,0,0,0,0,0,0,26.94,26.95,26.95,10.82,44.17
$STATE,333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,333,begin apogee
$GC,338,-0.39,0.0,2017,2037,2450,4094,45.7,-14.5,41,366,4.22,0.08,14.80,3.054,10244,0.196,0.161,2417,2109,2145,2145,4094,0,0,0,0,0,0,26.57,25.82,25.20,10.82,43.85
$STATE,367,end apogee,CONTROL_FINISHED_OK
$STATE,367,begin climb
$GC,369,1.63,244.4,2417,2109,2145,4094,48.4,0.0,44,394,6.50,0.00,14.05,3.022,11270,0.114,0.000,3063,2109,1860,1860,4094,0,0,0,0,0,0,26.40,26.59,25.01,10.76,44.01
$GC,424,1.85,388.1,3062,2109,1859,4094,46.4,6.0,50,443,0.55,0.00,9.02,2.697,10246,0.119,0.000,3125,2109,1692,1692,4094,0,0,0,0,0,0,26.24,25.85,25.02,10.69,43.54
$GC,474,1.89,414.2,3124,2110,1692,4094,42.1,9.3,55,483,0.00,0.00,3.05,1.187,8198,0.000,0.000,3125,2109,1666,1666,4094,0,0,0,0,0,0,26.48,25.75,25.15,10.65,43.54
$GC,513,1.89,414.2,3124,2109,1665,4094,37.8,10.8,59,523,0.00,3.25,0.00,0.000,516,0.000,0.238,3125,919,1665,1665,4094,0,0,0,0,0,0,26.55,26.14,26.57,10.64,43.38
$GC,563,1.89,414.2,3124,919,1663,4094,32.2,11.5,66,572,0.00,2.75,0.00,0.000,1030,0.000,0.094,3125,2044,1665,1665,4094,0,0,0,0,0,0,26.41,26.38,26.43,10.64,43.69
$GC,602,1.89,414.2,3124,2044,1663,4094,27.8,11.3,70,610,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2044,1662,1662,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.63,43.69
$GC,642,1.89,414.2,3124,2044,1662,4094,23.4,11.3,74,650,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2044,1662,1662,4094,0,0,0,0,0,0,26.74,26.76,26.75,10.63,44.29
$GC,684,1.89,414.2,3125,2044,1661,4094,19.3,10.2,78,692,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2044,1661,1661,4094,0,0,0,0,0,0,26.77,26.78,26.78,10.62,44.25
$GC,722,1.96,460.2,3124,2044,1661,4094,15.8,8.7,82,733,0.25,3.00,4.12,1.266,10756,0.146,0.236,3159,920,1606,1606,4094,0,0,0,0,0,0,26.57,26.13,25.68,10.62,44.40
$GC,779,1.96,460.2,3158,920,1605,4094,9.8,11.3,90,787,0.00,2.78,0.00,0.000,1030,0.000,0.097,3159,2058,1605,1605,4094,0,0,0,0,0,0,26.57,26.54,26.61,10.61,44.95
$GC,818,1.96,460.2,3158,2058,1603,4094,5.8,10.6,94,827,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2058,1604,1604,4095,0,0,0,0,0,0,26.85,26.86,26.86,10.60,45.66
$GC,857,2.10,558.5,3159,2059,1604,4094,2.9,7.3,98,875,0.43,3.15,6.38,1.346,10500,0.107,0.186,3207,3258,1491,1491,4094,0,0,0,0,0,0,26.63,26.41,25.82,10.61,45.62
$STATE,883,end climb,SURFACE_DEPTH_REACHED
$STATE,883,begin surface coast
$FINISH,0.5,0.960764
$STATE,892,end surface coast,CONTROL_FINISHED_OK
$STATE,892,begin surface
$SM_CCo,993,0.00,0.000,0,0,1490,563.24
$SM_GC,1.29,29.90,2.65,0.00,0.079,0.094,0.000,242,2198,1490,-7.20,2.64,563.24,0,0,0,0,0,0,26.58,26.55,26.62
$IRIDIUM_FIX,4748.51,-12337.82,200617,165906
$TT8_MAMPS,0.024717,0.32956
$HUMID,46.18
$INTERNAL_PRESSURE,10.502
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,25.01,37.950
$10V_AH,10.49,15.801
$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,62.825,30.050,51.425,0.000,0.000,0.000,0.000,0.000,0.250,0.000,52.331,287.359,159.969,139.968,482.651,41.094,29.312,347.470,0.000,259.222,0.000,2.679,0.000
$DEVICE_MAMPS,369.967,4015.011,3054.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,244.329,277.176,219.307,325.910,425.336,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322088
$DATA_FILE_SIZE,10944,102
$CAP_FILE_SIZE,38094,0
$CFSIZE,1024409600,1020084224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,102
$GPS,200617,172427,4742.927,-12224.591,3,1.0,27,16.3,0.0,0.0,9,5.0