version: 66.12
glider: 401
mission: 20
dive: 39
start: 4 29 117 7 2 8
data:
$ID,401
$MISSION,20
$DIVE,39
$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,13
$R_STBD_OVSHOOT,12
$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
$GPS1,290417,064438,5715.7979,-16541.9238,6,0.9,20,10.7,0.7,117.9,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,0.0
$GPS2,290417,064438,5715.7979,-16541.9238,6,0.9,20,10.7,0.7,117.9,9,4.9
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5712.282,-16523.072
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195024,-0.297300
$KALMAN_X,-4715.152832,-615.814209,362.453552,8459.137695,231.792236
$KALMAN_Y,3588.003662,1104.044800,824.936707,-3257.442383,168.606506
$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,-391.0,2353,2012,2352,4094,0.0,0.0,0,36,0.00,0.00,-2.75,0.000,16390,0.000,0.000,2353,2012,2635,2635,4094,0,0,0,0,0,0,26.14,24.60,26.13,10.07,34.99
$GC,38,-1.78,-391.0,2353,2011,2635,4094,0.1,0.0,1,57,5.40,3.72,-0.03,0.000,20740,0.114,3.928,1847,3222,2641,2641,4095,0,0,0,0,0,0,25.49,24.21,25.01,10.14,35.15
$GC,73,-1.78,-391.0,1846,3221,2641,4094,3.1,-7.2,3,91,0.00,3.25,0.00,0.000,1030,0.000,0.122,1847,2017,2642,2642,4094,0,0,0,0,0,0,25.34,25.29,25.37,10.14,36.02
$GC,154,-1.78,-391.0,1846,2017,2642,4094,12.4,-12.0,9,173,0.00,3.40,0.00,0.000,516,0.000,0.256,1847,823,2643,2643,4094,0,0,0,0,0,0,25.79,25.40,25.80,10.13,34.64
$GC,189,-1.78,-391.0,1846,824,2644,4094,16.7,-12.3,11,207,0.00,3.17,0.00,0.000,1030,0.000,0.142,1847,2018,2644,2644,4094,0,0,0,0,0,0,25.59,25.53,25.61,10.13,34.64
$GC,271,-1.78,-391.0,1846,2019,2645,4095,26.9,-12.2,17,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2019,2646,2646,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.12,34.28
$GC,348,-1.78,-391.0,1846,2019,2647,4094,36.2,-12.0,23,362,0.00,3.50,0.00,0.000,260,0.000,0.281,1847,3225,2647,2647,4094,0,0,0,0,0,0,26.04,25.59,26.06,10.12,34.32
$GC,379,-1.78,-391.0,1846,3225,2648,4094,39.9,-12.1,25,393,0.00,3.25,0.00,0.000,1030,0.000,0.134,1847,2004,2648,2648,4094,0,0,0,0,0,0,25.79,25.74,25.82,10.12,34.36
$GC,457,-1.78,-391.0,1845,2004,2650,4094,49.5,-12.0,31,478,0.00,3.30,0.00,0.000,516,0.000,0.261,1847,831,2650,2650,4094,0,0,0,0,0,0,26.13,25.71,26.14,10.12,34.48
$GC,494,-1.78,-391.0,1846,831,2650,4095,54.0,-12.3,33,512,0.00,3.08,0.00,0.000,1030,0.000,0.137,1847,2007,2651,2651,4094,0,0,0,0,0,0,25.87,25.84,25.91,10.12,34.36
$STATE,526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,526,begin apogee
$GC,529,-0.45,0.0,1846,2007,2651,4094,58.7,-13.0,35,561,4.55,0.00,24.38,4.301,10244,0.231,0.000,2251,2007,2173,2173,4094,0,0,0,0,0,0,25.84,25.03,23.99,10.12,34.32
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,562,begin climb
$GC,564,1.78,391.0,2250,2007,2174,4094,61.6,0.0,37,601,7.80,0.00,23.35,4.209,11270,0.146,0.000,2961,2007,1718,1718,4094,0,0,0,0,0,0,25.29,25.46,23.61,10.02,34.17
$GC,663,1.78,391.0,2961,2010,1716,4094,52.8,13.7,44,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2009,1715,1715,4094,0,0,0,0,0,0,25.49,25.50,25.50,9.93,33.46
$GC,740,1.78,391.0,2961,2010,1714,4094,42.1,14.1,50,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2010,1713,1713,4094,0,0,0,0,0,0,25.70,25.72,25.72,9.93,33.61
$GC,820,1.78,391.0,2961,2009,1711,4094,30.9,13.7,56,835,0.00,3.50,0.00,0.000,260,0.000,0.256,2961,3221,1711,1711,4094,0,0,0,0,0,0,25.84,25.44,25.86,9.93,33.93
$GC,875,1.78,391.0,2961,3221,1709,4094,22.7,15.1,60,893,0.00,3.17,0.00,0.000,1030,0.000,0.122,2961,2031,1710,1710,4094,0,0,0,0,0,0,25.66,25.61,25.70,9.93,33.97
$GC,957,1.78,391.0,2961,2031,1707,4094,10.9,14.1,66,975,0.00,3.40,0.00,0.000,516,0.000,0.261,2961,827,1706,1706,4094,0,0,0,0,0,0,26.01,25.60,26.02,9.93,34.05
$GC,991,1.78,391.0,2961,827,1706,4094,6.1,14.1,68,1010,0.00,3.15,0.00,0.000,1030,0.000,0.134,2961,2029,1705,1705,4094,0,0,0,0,0,0,25.77,25.73,25.81,9.93,34.32
$STATE,1023,end climb,SURFACE_DEPTH_REACHED
$STATE,1023,begin surface coast
$FINISH,0.1,1.016173
$STATE,1050,end surface coast,CONTROL_FINISHED_OK
$STATE,1051,begin surface
$SM_CCo,1146,0.00,0.000,0,0,1704,404.40
$SM_GC,0.89,29.00,0.00,0.00,0.104,0.000,0.000,232,2031,1704,-6.81,0.27,404.40,0,0,0,0,0,0,25.45,26.10,25.72
$IRIDIUM_FIX,5744.64,-16600.79,290417,063704
$TT8_MAMPS,0.026964,0.23968
$HUMID,34.64
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,10.2
$24V_AH,23.61,7.771
$10V_AH,8.94,8.092
$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,46.750,39.900,47.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,267.770,60.431,146.899,702.685,20.406,33.400,427.248,0.000,714.516,0.000,5.439,0.000
$DEVICE_MAMPS,230.919,3928.106,4300.556,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.948,92.292,154.842,407.088,690.286,0.000,0.000,0.000,0.000,0.000
$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,7401,72
$CAP_FILE_SIZE,24670,14
$CFSIZE,1024409600,1016594432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,072202,5715.764,-16540.545,2,0.8,16,10.7,0.0,0.0,11,4.8