version: 66.12
glider: 401
mission: 20
dive: 51
start: 4 29 117 11 24 43
data:
$ID,401
$MISSION,20
$DIVE,51
$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,22
$R_STBD_OVSHOOT,15
$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
$GPS1,290417,110655,5714.0200,-16534.7285,5,0.9,15,10.8,0.7,160.3,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.8
$GPS2,290417,110655,5714.0200,-16534.7285,5,0.9,15,10.8,0.7,160.3,9,4.8
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5710.504,-16515.893
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.337306,0.112455
$KALMAN_X,-3767.659424,934.967529,1239.187744,12288.879883,-13.719482
$KALMAN_Y,3013.488525,463.894806,-199.197403,-4309.054199,-242.399429
$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,16,-1.78,-391.0,2349,2014,2356,4094,0.0,0.0,0,33,0.00,0.00,-2.78,0.000,16390,0.000,0.000,2349,2015,2636,2636,4094,0,0,0,0,0,0,26.13,24.61,26.11,10.05,35.35
$GC,35,-1.78,-391.0,2349,2016,2636,4094,0.1,0.0,1,50,5.62,3.50,0.00,0.000,4356,0.256,0.253,1865,3223,2636,2636,4094,0,0,0,0,0,0,25.44,25.39,25.51,10.11,35.27
$GC,78,-1.78,-391.0,1864,3222,2637,4094,2.5,-5.6,4,92,0.00,3.17,0.00,0.000,1030,0.000,0.119,1865,2029,2637,2637,4094,0,0,0,0,0,0,25.63,25.58,25.65,10.11,35.74
$GC,155,-1.78,-391.0,1864,2030,2638,4095,10.9,-11.0,10,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2029,2638,2638,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.11,35.11
$GC,232,-1.78,-391.0,1864,2029,2640,4095,19.7,-11.3,16,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2029,2640,2640,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.11,34.80
$GC,308,-1.78,-391.0,1864,2029,2641,4094,28.6,-11.9,22,326,0.00,3.35,0.00,0.000,516,0.000,0.253,1865,834,2642,2642,4094,0,0,0,0,0,0,26.13,25.72,26.15,10.10,35.03
$GC,377,-1.78,-391.0,1864,834,2643,4094,37.4,-12.7,27,395,0.00,3.15,0.00,0.000,1030,0.000,0.137,1865,2038,2643,2643,4095,0,0,0,0,0,0,25.91,25.86,25.94,10.11,34.56
$GC,459,-1.78,-391.0,1864,2038,2645,4094,46.3,-10.8,33,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2038,2645,2645,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.11,34.95
$STATE,539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,539,begin apogee
$GC,542,-0.45,0.0,1865,2038,2647,4094,55.5,-11.4,39,575,4.38,0.00,23.83,4.184,10244,0.223,0.000,2257,2038,2173,2173,4094,0,0,0,0,0,0,25.94,25.15,24.10,10.10,34.95
$STATE,576,end apogee,CONTROL_FINISHED_OK
$STATE,576,begin climb
$GC,577,1.78,391.0,2257,2038,2173,4094,58.0,0.0,41,625,7.65,3.42,23.15,4.102,10500,0.144,0.268,2963,3214,1721,1721,4094,0,0,0,0,0,0,25.32,25.23,23.72,10.01,34.40
$GC,640,1.78,391.0,2963,3214,1720,4094,54.2,8.8,45,655,0.00,3.22,0.00,0.000,1030,0.000,0.119,2964,2031,1720,1720,4093,0,0,0,0,0,0,25.15,25.13,25.16,9.93,34.01
$GC,717,1.78,391.0,2964,2030,1718,4094,43.7,13.8,51,735,0.00,3.45,0.00,0.000,516,0.000,0.261,2964,825,1718,1718,4094,0,0,0,0,0,0,25.65,25.27,25.67,9.92,33.85
$GC,797,1.78,391.0,2963,825,1716,4094,32.0,14.7,57,812,0.00,3.10,0.00,0.000,1030,0.000,0.132,2964,2001,1715,1715,4094,0,0,0,0,0,0,25.58,25.53,25.60,9.92,34.09
$GC,874,1.78,391.0,2963,2000,1714,4094,21.7,13.5,63,889,0.00,3.50,0.00,0.000,260,0.000,0.263,2963,3214,1713,1713,4094,0,0,0,0,0,0,25.93,25.51,25.94,9.92,34.32
$GC,905,1.78,391.0,2963,3214,1712,4094,17.4,13.8,65,920,0.00,3.22,0.00,0.000,1030,0.000,0.127,2964,2004,1712,1712,4094,0,0,0,0,0,0,25.70,25.65,25.72,9.92,34.20
$GC,982,1.78,391.0,2963,2004,1710,4094,6.1,14.1,71,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2004,1710,1710,4095,0,0,0,0,0,0,26.04,26.06,26.06,9.92,34.32
$STATE,1010,end climb,SURFACE_DEPTH_REACHED
$STATE,1011,begin surface coast
$FINISH,0.1,1.019116
$STATE,1038,end surface coast,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$SM_CCo,1133,0.00,0.000,0,0,1709,400.11
$SM_GC,1.10,29.10,0.00,0.00,0.109,0.000,0.000,231,2000,1709,-6.81,-1.23,400.11,0,0,0,0,0,0,25.41,26.10,25.72
$IRIDIUM_FIX,5744.64,-16600.79,290417,102043
$TT8_MAMPS,0.026964,0.26215
$HUMID,34.52
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,9.5
$24V_AH,23.72,8.562
$10V_AH,8.86,8.417
$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,46.750,33.100,46.975,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,271.176,59.621,122.573,712.750,19.091,33.405,380.595,0.000,725.289,0.000,5.445,0.000
$DEVICE_MAMPS,255.749,268.164,4183.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.190,96.209,161.282,402.197,700.603,0.000,0.000,0.000,0.000,0.000
$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,7441,75
$CAP_FILE_SIZE,22093,5
$CFSIZE,1024409600,1016004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,114422,5713.649,-16534.213,3,1.0,14,10.8,0.6,230.8,9,4.6