version: 66.12
glider: 401
mission: 20
dive: 37
start: 4 29 117 6 16 9
data:
$ID,401
$MISSION,20
$DIVE,37
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,290417,055849,5715.6450,-16543.3926,6,0.9,20,10.7,0.6,85.3,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.5
$GPS2,290417,055849,5715.6450,-16543.3926,6,0.9,20,10.7,0.6,85.3,9,4.1
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5712.129,-16524.541
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133794,-0.329427
$KALMAN_X,-5156.416016,-973.508423,-26.251699,8173.429688,229.481689
$KALMAN_Y,2924.389893,927.039368,741.070618,-2615.495117,226.873840
$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,-391.0,2354,2033,2345,4094,0.0,0.0,0,33,0.00,0.00,-2.85,0.000,16390,0.000,0.000,2354,2034,2634,2634,4095,0,0,0,0,0,0,25.88,24.46,25.86,10.07,34.99
$GC,34,-1.78,-391.0,2354,2035,2634,4095,0.1,0.0,1,53,6.03,0.00,0.00,0.000,4102,0.298,0.000,1850,2035,2635,2635,4094,0,0,0,0,0,0,25.30,25.37,25.34,10.13,35.15
$GC,116,-1.78,-391.0,1849,2035,2636,4095,7.1,-10.7,7,130,0.00,3.47,0.00,0.000,260,0.000,0.276,1850,3215,2636,2636,4095,0,0,0,0,0,0,25.77,25.35,25.79,10.13,34.83
$GC,157,-1.78,-391.0,1849,3215,2636,4094,12.1,-12.0,10,172,0.00,3.12,0.00,0.000,1030,0.000,0.122,1850,2046,2637,2637,4094,0,0,0,0,0,0,25.60,25.55,25.62,10.12,35.11
$GC,235,-1.78,-391.0,1849,2045,2639,4094,21.4,-11.8,16,254,0.00,3.42,0.00,0.000,516,0.000,0.253,1850,832,2638,2638,4094,0,0,0,0,0,0,25.94,25.57,25.96,10.12,34.80
$GC,282,-1.78,-391.0,1849,831,2639,4094,27.5,-12.8,19,296,0.00,3.15,0.00,0.000,1030,0.000,0.139,1850,2026,2640,2640,4094,0,0,0,0,0,0,25.72,25.70,25.77,10.12,34.68
$GC,359,-1.78,-391.0,1849,2025,2641,4094,36.9,-11.5,25,374,0.00,3.45,0.00,0.000,260,0.000,0.281,1850,3216,2641,2641,4094,0,0,0,0,0,0,26.07,25.60,26.08,10.11,34.68
$GC,391,-1.78,-391.0,1849,3216,2642,4094,40.7,-12.0,27,409,0.00,3.12,0.00,0.000,1030,0.000,0.132,1850,2042,2642,2642,4095,0,0,0,0,0,0,25.82,25.77,25.85,10.12,34.48
$GC,475,-1.78,-391.0,1850,2042,2644,4094,50.5,-12.1,33,490,0.00,3.38,0.00,0.000,516,0.000,0.263,1850,833,2644,2644,4095,0,0,1,0,0,0,26.13,25.73,26.15,10.11,34.87
$STATE,516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,516,begin apogee
$GC,523,-0.45,0.0,1849,2032,2645,4094,56.3,-12.7,36,566,4.60,0.00,23.98,4.224,10244,0.241,0.000,2256,2033,2173,2173,4094,0,0,0,0,0,0,25.83,24.77,23.99,10.12,34.01
$STATE,567,end apogee,CONTROL_FINISHED_OK
$STATE,568,begin climb
$GC,569,1.78,391.0,2255,2033,2174,4095,60.0,0.0,39,615,7.72,0.00,23.55,4.181,11270,0.144,0.000,2961,2036,1717,1717,4094,0,0,0,0,0,0,25.36,25.56,23.65,10.02,34.13
$GC,677,1.78,391.0,2961,2036,1716,4094,50.9,13.4,47,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2036,1716,1716,4094,0,0,0,0,0,0,25.53,25.55,25.55,9.93,33.77
$GC,753,1.78,391.0,2960,2036,1714,4094,40.4,13.9,53,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2036,1713,1713,4094,0,0,0,0,0,0,25.73,25.75,25.75,9.92,33.89
$GC,832,1.78,391.0,2961,2036,1711,4094,29.0,14.3,59,846,0.00,3.42,0.00,0.000,260,0.000,0.258,2961,3220,1711,1711,4094,0,0,0,0,0,0,25.86,25.44,25.88,9.92,34.44
$GC,885,1.78,391.0,2961,3220,1709,4094,20.9,15.6,63,903,0.00,3.20,0.00,0.000,1030,0.000,0.122,2962,2019,1710,1710,4094,0,0,0,0,0,0,25.65,25.61,25.70,9.92,34.87
$GC,967,1.78,391.0,2961,2019,1707,4094,9.3,13.7,69,981,0.00,3.35,0.00,0.000,516,0.000,0.261,2961,833,1707,1707,4094,0,0,0,0,0,0,26.02,25.60,26.03,9.93,34.13
$GC,998,1.78,391.0,2961,833,1706,4094,5.2,13.7,71,1012,0.00,3.10,0.00,0.000,1030,0.000,0.134,2961,2015,1706,1706,4094,0,0,0,0,0,0,25.78,25.72,25.81,9.93,34.17
$STATE,1027,end climb,SURFACE_DEPTH_REACHED
$STATE,1028,begin surface coast
$FINISH,0.1,1.024410
$STATE,1055,end surface coast,CONTROL_FINISHED_OK
$STATE,1055,begin surface
$SM_CCo,1150,0.00,0.000,0,0,1706,403.54
$SM_GC,0.95,29.05,0.00,0.00,0.107,0.000,0.000,232,2017,1706,-6.81,-0.36,403.54,0,0,0,0,0,0,25.46,26.10,25.73
$IRIDIUM_FIX,5744.64,-16600.79,290417,051432
$TT8_MAMPS,0.026964,0.244174
$HUMID,34.32
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.5
$24V_AH,23.65,7.628
$10V_AH,8.92,8.037
$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,47.400,39.350,47.525,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,271.027,59.599,135.204,717.295,19.129,33.400,412.884,0.000,729.561,0.000,5.448,0.000
$DEVICE_MAMPS,297.960,280.579,4223.583,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.981,96.136,161.289,406.010,704.795,0.000,0.000,0.000,0.000,0.000
$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,7394,75
$CAP_FILE_SIZE,23460,7
$CFSIZE,1024409600,1016692736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,290417,063606,5715.742,-16542.098,2,0.9,15,10.7,1.5,261.6,9,5.0