version: 66.12
glider: 401
mission: 20
dive: 32
start: 4 29 117 4 28 40
data:
$ID,401
$MISSION,20
$DIVE,32
$N_DIVES,0
$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,3
$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,38
$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,400
$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,109
$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,2412
$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,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,17
$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
$GPS1,290417,042259,5714.9834,-16545.7402,2,0.8,15,10.7,1.6,148.9,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-44.8
$GPS2,290417,042740,5715.0405,-16545.7090,5,0.9,16,10.7,0.6,1.9,10,4.8
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5711.525,-16526.863
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.039734,-0.353334
$KALMAN_X,-5594.473633,-1374.520142,-729.241150,7379.143066,106.228394
$KALMAN_Y,1255.368896,425.968140,351.756348,-1186.075195,330.306458
$MHEAD_RNG_PITCHd_Wd,98.3,20000,-12.7,-10.185,-15.98,5763
$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,15,-1.78,-391.0,231,2031,1705,4094,0.0,0.0,0,36,0.00,0.00,-8.30,0.000,16390,0.000,0.000,231,2031,2635,2635,4095,0,0,0,0,0,0,26.02,25.17,26.03,9.94,35.39
$GC,38,-1.78,-391.0,231,2031,2635,4094,1.0,0.0,1,72,20.40,3.50,0.00,0.000,2308,0.417,0.278,1832,3217,2638,2638,4094,1,0,0,0,0,0,25.29,25.30,25.42,10.14,36.06
$GC,112,-1.78,-391.0,1831,3218,2639,4094,21.8,-26.4,6,127,0.00,3.20,0.00,0.000,1030,0.000,0.124,1832,2022,2639,2639,4094,0,0,0,0,0,0,25.59,25.53,25.62,10.13,35.39
$GC,190,-1.78,-391.0,1831,2022,2641,4094,31.2,-11.7,12,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2022,2641,2641,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.12,35.54
$GC,269,-1.78,-391.0,1831,2022,2642,4094,40.7,-12.4,18,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2022,2643,2643,4095,0,0,0,0,0,0,26.06,26.07,26.07,10.12,34.48
$GC,347,-1.78,-391.0,1831,2020,2644,4094,49.8,-11.5,24,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2021,2645,2645,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.12,34.72
$STATE,394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,394,begin apogee
$GC,397,-0.45,0.0,1832,2021,2645,4094,56.1,-12.9,27,441,4.78,0.00,24.02,4.186,10244,0.233,0.000,2254,2019,2175,2175,4094,0,0,0,0,0,0,25.82,24.74,23.97,10.12,34.40
$STATE,442,end apogee,CONTROL_FINISHED_OK
$STATE,442,begin climb
$GC,443,1.78,391.0,2254,2019,2175,4094,59.0,0.0,30,482,7.65,3.50,23.52,4.124,10500,0.144,0.258,2963,3216,1718,1718,4094,0,0,0,0,0,0,25.27,25.18,23.64,10.02,34.28
$GC,498,1.78,391.0,2962,3216,1717,4094,56.8,6.9,33,513,0.00,3.25,0.00,0.000,1030,0.000,0.119,2963,2028,1717,1717,4094,0,0,0,0,0,0,25.05,24.98,25.07,9.94,33.73
$GC,575,1.78,391.0,2963,2028,1715,4094,46.4,14.0,39,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2028,1714,1714,4094,0,0,0,0,0,0,25.60,25.62,25.62,9.93,33.57
$GC,650,1.78,391.0,2963,2028,1712,4094,35.2,14.5,45,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2028,1712,1712,4094,0,0,0,0,0,0,25.77,25.79,25.79,9.93,33.69
$GC,731,1.78,391.0,2963,2028,1710,4094,23.2,15.2,51,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2028,1710,1710,4094,0,0,0,0,0,0,25.90,25.92,25.91,9.93,33.89
$GC,810,1.78,391.0,2962,2028,1707,4094,12.3,13.5,57,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2028,1707,1707,4094,0,0,0,0,0,0,26.00,26.01,26.01,9.93,34.68
$STATE,889,end climb,FINISH_DEPTH_REACHED
$STATE,889,begin subsurface finish
$FINISH1,1.5,1.025083,-146
$GC,893,-0.23,-145.8,2963,2024,1705,4094,1.5,13.0,63,913,6.43,0.00,-6.00,0.000,20486,0.122,0.000,2355,2025,2350,2350,4094,0,0,0,0,0,0,25.82,24.65,25.86,9.93,34.52
$FINISH2,0.1
$STATE,914,end subsurface finish,CONTROL_FINISHED_OK
$STATE,914,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,034144
$TT8_MAMPS,0.026215,0.250915
$HUMID,34.60
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,9.6
$24V_AH,23.64,7.287
$10V_AH,8.92,7.902
$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,39.250,13.450,47.550,0.000,0.000,22.354,20.372,163.410,0.500,0.000,17.860,233.252,0.000,104.660,852.927,27.473,33.458,355.299,0.000,631.743,0.000,7.312,0.000
$DEVICE_MAMPS,417.144,278.096,4186.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.562,82.030,137.658,354.793,607.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,3955,64
$CAP_FILE_SIZE,22669,11
$CFSIZE,1024409600,1016938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,290417,042740,5715.041,-16545.709,5,0.9,16,10.7,0.6,1.9,10,4.8