version: 66.12
glider: 401
mission: 20
dive: 84
start: 4 29 117 23 44 18
data:
$ID,401
$MISSION,20
$DIVE,84
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$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,20
$T_MISSION,42
$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,450
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,23
$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,3
$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
$GPS1,290417,233827,5713.1016,-16525.2773,3,0.7,18,10.9,0.7,198.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-43.5
$GPS2,290417,234317,5713.0918,-16525.3965,4,0.9,23,10.9,0.0,0.0,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.576,-16506.568
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.347976,-0.111743
$KALMAN_X,-4222.470215,1534.812988,510.466339,22225.482422,-316.884460
$KALMAN_Y,5323.400879,402.967255,-83.278038,-8380.586914,-363.143005
$MHEAD_RNG_PITCHd_Wd,98.1,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$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,-1.72,-439.9,241,2033,1648,4094,0.0,0.0,0,36,0.00,0.00,-9.68,0.000,16390,0.000,0.000,241,2033,2690,2690,4094,0,0,0,0,0,0,26.05,25.21,26.06,9.91,36.02
$GC,38,-1.72,-439.9,241,2033,2690,4094,0.8,0.0,1,72,20.25,4.18,0.00,0.000,2308,0.405,0.310,1848,3433,2692,2692,4095,0,0,0,0,0,0,25.42,25.35,25.50,10.12,35.86
$GC,204,-1.72,-439.9,1847,3433,2695,4095,33.7,-12.7,14,218,0.00,3.75,0.00,0.000,1030,0.000,0.129,1848,2022,2696,2696,4094,0,0,0,0,0,0,25.76,25.72,25.78,10.12,35.35
$GC,280,-1.72,-439.9,1848,2022,2697,4094,43.2,-12.1,20,299,0.00,4.15,0.00,0.000,260,0.000,0.303,1848,3431,2698,2698,4094,0,0,0,0,0,0,26.09,25.63,26.10,10.12,35.50
$GC,388,-1.72,-439.9,1848,3431,2700,4094,56.3,-11.9,28,403,0.00,3.70,0.00,0.000,1030,0.000,0.124,1848,2024,2700,2700,4094,0,0,0,0,0,0,25.94,25.88,25.96,10.12,34.68
$STATE,417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,417,begin apogee
$GC,421,-0.45,0.0,1848,2024,2700,4094,59.7,-11.7,30,458,4.57,0.00,26.35,4.363,10244,0.216,0.000,2258,2020,2174,2174,4094,0,0,0,0,0,0,25.87,24.99,23.89,10.12,34.91
$STATE,459,end apogee,CONTROL_FINISHED_OK
$STATE,459,begin climb
$GC,460,1.72,439.9,2257,2020,2174,4094,62.5,0.0,32,507,7.50,4.20,26.40,4.286,10500,0.142,0.288,2948,3432,1661,1661,4094,0,0,0,0,0,0,25.19,25.08,23.53,10.00,34.60
$GC,537,1.72,439.9,2947,3432,1660,4094,56.8,10.5,37,551,0.00,3.83,0.00,0.000,1030,0.000,0.127,2947,2033,1659,1659,4094,0,0,0,0,0,0,25.11,25.04,25.12,9.91,33.81
$GC,613,1.72,439.9,2947,2033,1657,4094,45.9,13.4,43,632,0.00,4.15,0.00,0.000,516,0.000,0.281,2948,609,1657,1657,4094,0,0,0,0,0,0,25.60,25.20,25.62,9.90,34.60
$GC,682,1.72,439.9,2947,608,1656,4094,36.7,13.5,48,697,0.00,3.75,0.00,0.000,1030,0.000,0.139,2948,2013,1655,1655,4094,0,0,0,0,0,0,25.51,25.46,25.53,9.91,33.93
$GC,759,1.72,439.9,2947,2013,1653,4094,27.8,11.7,54,774,0.00,4.18,0.00,0.000,260,0.000,0.295,2948,3434,1653,1653,4094,0,0,0,0,0,0,25.87,25.44,25.88,9.91,34.05
$GC,813,1.72,439.9,2947,3434,1652,4094,20.3,13.8,58,828,0.00,3.78,0.00,0.000,1030,0.000,0.129,2948,2021,1652,1652,4094,0,0,0,0,0,0,25.67,25.63,25.71,9.91,35.19
$GC,892,1.72,439.9,2947,2021,1649,4094,9.3,13.3,64,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2020,1649,1649,4094,0,0,0,0,0,0,26.01,26.03,26.03,9.91,34.64
$STATE,933,end climb,FINISH_DEPTH_REACHED
$STATE,933,begin subsurface finish
$FINISH1,2.9,1.025306,-161
$GC,937,-0.26,-161.4,2947,2016,1648,4094,2.9,15.3,67,957,6.68,0.00,-6.70,0.000,20486,0.209,0.000,2345,2016,2368,2368,4094,0,0,0,0,0,0,25.81,24.65,25.84,9.91,34.48
$FINISH2,0.2
$STATE,958,end subsurface finish,CONTROL_FINISHED_OK
$STATE,958,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,225435
$TT8_MAMPS,0.026215,0.262899
$HUMID,35.46
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,9.7
$24V_AH,23.53,10.954
$10V_AH,8.80,9.353
$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,39.000,39.650,52.750,0.000,0.000,24.689,17.223,162.614,0.500,0.000,24.966,251.409,0.000,98.822,886.098,35.794,33.432,346.820,0.000,662.354,0.000,7.329,0.000
$DEVICE_MAMPS,404.729,310.375,4362.631,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.332,87.203,146.231,365.822,637.432,0.000,0.000,0.000,0.000,0.000
$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,7289,68
$CAP_FILE_SIZE,24384,8
$CFSIZE,1024409600,1014382592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,234317,5713.092,-16525.396,4,0.9,23,10.9,0.0,0.0,10,4.8