version: 66.12
glider: 401
mission: 20
dive: 47
start: 4 29 117 9 59 48
data:
$ID,401
$MISSION,20
$DIVE,47
$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,21
$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
$GPS1,290417,094154,5714.9390,-16536.3516,4,0.8,15,10.8,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.4
$GPS2,290417,094154,5714.9390,-16536.3516,4,0.8,15,10.8,0.0,0.0,10,4.8
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5711.423,-16517.508
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.355395,-0.011096
$KALMAN_X,-3741.256836,622.885010,1269.543335,10923.013672,81.390930
$KALMAN_Y,4077.250732,941.749512,314.552521,-4664.471191,-148.446228
$MHEAD_RNG_PITCHd_Wd,98.2,20000,-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,-391.0,2356,2021,2352,4095,0.0,0.0,0,36,0.00,0.00,-2.80,0.000,16390,0.000,0.000,2357,2020,2636,2636,4095,0,0,0,0,0,0,26.15,24.62,26.14,10.06,35.58
$GC,38,-1.78,-391.0,2356,2021,2636,4094,0.2,0.0,1,56,5.32,0.00,0.00,0.000,4102,0.129,0.000,1862,2021,2636,2636,4094,0,0,0,0,0,0,25.48,25.54,25.52,10.12,35.27
$GC,119,-1.78,-391.0,1862,2020,2638,4095,8.1,-10.2,7,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2020,2638,2638,4095,0,0,0,0,0,0,25.91,25.92,25.92,10.12,35.35
$GC,197,-1.78,-391.0,1862,2021,2639,4094,17.0,-11.7,13,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2021,2640,2640,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.12,35.19
$GC,278,-1.78,-391.0,1863,2021,2641,4094,26.7,-12.0,19,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2020,2641,2641,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,35.27
$GC,354,-1.78,-391.0,1862,2021,2644,4094,35.9,-11.9,25,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2020,2643,2643,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.11,34.99
$GC,435,-1.78,-391.0,1862,2021,2645,4094,45.1,-11.3,31,453,0.00,3.33,0.00,0.000,516,0.000,0.246,1863,827,2645,2645,4095,0,0,0,0,0,0,26.20,25.81,26.22,10.11,35.07
$GC,498,-1.78,-391.0,1862,827,2646,4094,52.7,-12.2,35,517,0.00,3.10,0.00,0.000,1030,0.000,0.139,1862,2013,2647,2647,4095,0,0,0,0,0,0,25.98,25.91,25.99,10.11,34.72
$STATE,530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,531,begin apogee
$GC,534,-0.45,0.0,1862,2013,2647,4094,56.8,-12.1,37,566,4.40,0.00,24.02,4.221,10246,0.223,0.000,2256,2015,2174,2174,4094,0,0,0,0,0,0,25.93,25.13,24.06,10.11,34.68
$STATE,567,end apogee,CONTROL_FINISHED_OK
$STATE,567,begin climb
$GC,568,1.78,391.0,2256,2015,2174,4094,59.3,0.0,39,605,7.65,0.00,23.23,4.132,10246,0.139,0.000,2961,2015,1717,1717,4094,0,0,0,0,0,0,25.39,24.67,23.69,10.01,34.68
$GC,668,1.78,391.0,2960,2015,1716,4094,50.2,13.2,46,683,0.00,3.42,0.00,0.000,516,0.000,0.253,2961,826,1715,1715,4094,0,0,1,0,0,0,25.53,25.17,25.55,9.93,33.85
$GC,711,1.78,391.0,2960,826,1714,4094,44.1,14.0,49,729,0.00,3.15,0.00,0.000,1030,0.000,0.132,2961,2011,1714,1714,4094,0,0,0,0,0,0,25.42,25.38,25.45,9.93,34.09
$GC,792,1.78,391.0,2960,2011,1712,4094,32.4,14.1,55,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2011,1712,1712,4094,0,0,0,0,0,0,25.82,25.84,25.84,9.92,34.09
$GC,869,1.78,391.0,2960,2011,1710,4094,21.9,13.7,61,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2011,1709,1709,4094,0,0,0,0,0,0,25.94,25.95,25.95,9.92,33.89
$GC,947,1.78,391.0,2960,2011,1707,4094,11.3,13.7,67,965,0.00,3.45,0.00,0.000,260,0.000,0.258,2961,3214,1707,1707,4094,0,0,0,0,0,0,26.03,25.58,26.03,9.92,34.20
$GC,993,1.78,391.0,2960,3214,1706,4094,4.6,14.2,70,1011,0.00,3.25,0.00,0.000,1030,0.000,0.124,2961,1989,1705,1705,4094,0,0,0,0,0,0,25.79,25.75,25.83,9.93,34.56
$STATE,1025,end climb,SURFACE_DEPTH_REACHED
$STATE,1025,begin surface coast
$FINISH,0.1,1.025148
$STATE,1052,end surface coast,CONTROL_FINISHED_OK
$STATE,1052,begin surface
$SM_CCo,1148,0.00,0.000,0,0,1705,403.54
$SM_GC,1.13,28.98,0.10,0.00,0.104,0.305,0.000,232,2043,1705,-6.81,-1.18,403.54,0,0,0,0,0,0,25.51,25.86,25.77
$IRIDIUM_FIX,5744.64,-16600.79,290417,085557
$TT8_MAMPS,0.026215,0.243425
$HUMID,34.32
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,10.1
$24V_AH,23.69,8.303
$10V_AH,8.92,8.310
$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,46.350,19.800,47.250,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,265.925,60.106,134.315,720.027,19.895,33.410,390.918,0.000,732.434,0.000,5.455,0.000
$DEVICE_MAMPS,223.470,305.409,4221.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.668,94.973,159.173,415.546,708.419,0.000,0.000,0.000,0.000,0.000
$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,7330,74
$CAP_FILE_SIZE,21973,13
$CFSIZE,1024409600,1016201216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,101945,5714.511,-16535.441,2,0.8,17,10.8,0.0,0.0,10,5.0