version: 66.12
glider: 401
mission: 20
dive: 4
start: 4 28 117 18 27 24
data:
$ID,401
$MISSION,20
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,55
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,18
$T_MISSION,28
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,1
$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,300
$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,2415
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2145
$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,30
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$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
$GPS1,280417,182246,5714.9766,-16544.3613,2,0.8,13,10.7,1.6,98.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-47.3
$GPS2,280417,182625,5714.9922,-16544.3418,6,0.8,17,10.7,0.0,0.0,10,4.9
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.151706,-0.216022
$KALMAN_X,223.266632,101.176041,94.021851,634.964355,64.198311
$KALMAN_Y,458.802002,273.526978,262.159302,-222.151031,168.983917
$MHEAD_RNG_PITCHd_Wd,134.2,95587,-18.3,-10.185,-21.10,2908
$D_GRID,55
$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,-1.98,-195.5,242,1914,1793,4094,0.0,0.0,0,34,0.00,0.03,-5.12,0.000,16390,0.000,4.375,242,1903,2375,2375,4094,0,0,0,0,0,0,26.15,24.35,26.16,9.96,35.98
$GC,36,-1.98,-195.5,242,1904,2375,4094,1.2,0.0,1,65,19.80,3.45,0.00,0.000,2564,0.430,0.271,1769,683,2376,2376,4094,0,0,0,0,0,0,25.39,25.39,25.48,10.09,35.39
$GC,129,-1.98,-195.5,1768,683,2379,4095,19.2,-17.2,8,148,0.00,3.20,0.00,0.000,1030,0.000,0.146,1769,1897,2379,2379,4094,0,0,0,0,0,0,25.71,25.66,25.74,10.08,34.83
$GC,217,-1.98,-195.5,1768,1897,2380,4094,30.8,-12.5,14,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1897,2381,2381,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.08,34.32
$GC,298,-1.98,-195.5,1768,1897,2383,4094,41.1,-12.7,20,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1897,2383,2383,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.08,34.20
$GC,378,-1.98,-195.5,1768,1898,2385,4094,51.7,-12.8,26,397,0.00,3.35,0.00,0.000,260,0.000,0.238,1769,3091,2385,2385,4094,0,0,0,0,0,0,26.24,25.70,26.25,10.07,34.32
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,418,-0.45,0.0,1769,1893,2386,4094,56.4,-13.5,28,448,5.68,0.00,13.00,3.901,10244,0.276,0.000,2257,1893,2143,2143,4094,0,0,0,0,0,0,25.79,25.03,24.24,10.08,34.20
$STATE,449,end apogee,CONTROL_FINISHED_OK
$STATE,449,begin climb
$GC,450,1.98,195.5,2257,1893,2143,4095,60.2,0.0,30,487,8.45,0.00,12.40,3.784,11270,0.149,0.000,3028,1893,1918,1918,4094,0,0,0,0,0,0,25.65,25.86,24.03,10.03,34.44
$GC,551,1.98,195.5,3027,1893,1917,4094,51.2,12.5,37,569,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1893,1916,1916,4094,0,0,0,0,0,0,25.86,25.88,25.87,9.98,34.17
$GC,631,1.98,195.5,3027,1893,1914,4094,39.7,14.5,43,646,0.00,3.38,0.00,0.000,260,0.000,0.226,3027,3085,1914,1914,4094,0,0,0,0,0,0,26.01,25.56,26.01,9.97,33.69
$GC,732,1.98,195.5,3027,3085,1911,4094,23.0,17.2,51,751,0.00,3.10,0.00,0.000,1030,0.000,0.134,3028,1921,1910,1910,4094,0,0,0,0,0,0,25.80,25.74,25.83,9.97,33.93
$GC,813,1.98,195.5,3027,1921,1908,4094,11.2,13.8,57,827,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1921,1908,1908,4095,0,0,0,0,0,0,26.19,26.20,26.20,9.97,34.48
$STATE,888,end climb,SURFACE_DEPTH_REACHED
$STATE,888,begin surface coast
$FINISH,0.1,1.000059
$STATE,915,end surface coast,CONTROL_FINISHED_OK
$STATE,915,begin surface
$SM_CCo,951,6.75,1.810,0,0,1792,300.51
$SM_GC,2.07,29.77,0.05,6.75,0.112,0.514,1.810,243,1895,1792,-6.78,0.73,300.51,0,0,0,0,0,0,25.90,26.06,24.90
$IRIDIUM_FIX,5744.64,-16600.79,280417,180215
$TT8_MAMPS,0.026215,0.241178
$HUMID,35.15
$INTERNAL_PRESSURE,9.88675
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,30.8,9.5
$24V_AH,24.03,6.002
$10V_AH,9.00,7.147
$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,63.700,19.750,25.400,6.750,0.000,22.902,24.937,100.963,0.500,0.000,18.278,248.617,0.000,126.381,807.605,23.419,32.442,346.296,0.000,643.782,0.000,8.696,0.000
$DEVICE_MAMPS,429.559,4375.046,3900.793,1810.107,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.628,83.447,139.791,360.121,618.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344616
$DATA_FILE_SIZE,7306,65
$CAP_FILE_SIZE,24117,9
$CFSIZE,1024409600,1018314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280417,184418,5714.917,-16544.031,2,0.9,21,10.7,0.0,0.0,9,4.6