version: 66.12
glider: 401
mission: 20
dive: 120
start: 4 30 117 13 20 49
data:
$ID,401
$MISSION,20
$DIVE,120
$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,110
$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,15
$R_STBD_OVSHOOT,33
$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
$GPS1,300417,131431,5711.7407,-16515.2168,3,0.9,33,10.9,1.1,132.6,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-42.5
$GPS2,300417,131947,5711.7041,-16515.2715,6,0.8,16,10.9,1.0,221.5,11,4.5
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.011,-16456.572
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.265199,0.251367
$KALMAN_X,-6377.356934,1887.556030,1061.514526,33615.363281,-224.817383
$KALMAN_Y,8220.289062,37.643745,-509.063782,-13054.335938,-335.805725
$MHEAD_RNG_PITCHd_Wd,99.1,20000,-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,-439.9,242,2023,1648,4094,0.0,0.0,0,33,0.00,0.00,-9.82,0.000,16390,0.000,0.000,242,2022,2692,2692,4094,0,0,0,0,0,0,26.01,25.18,26.03,9.90,36.10
$GC,34,-1.72,-439.9,242,2022,2692,4094,0.8,0.0,1,67,20.42,3.95,0.00,0.000,2564,0.410,0.238,1850,603,2694,2694,4094,0,0,0,0,0,0,25.48,25.44,25.54,10.12,36.41
$GC,95,-1.72,-439.9,1849,603,2695,4095,17.6,-28.9,5,108,0.00,3.72,0.00,0.000,1030,0.000,0.139,1850,2005,2696,2696,4094,0,0,0,0,0,0,25.65,25.60,25.69,10.12,35.70
$GC,172,-1.72,-439.9,1849,2005,2697,4094,27.5,-12.5,11,190,0.00,4.25,0.00,0.000,260,0.000,0.308,1849,3447,2697,2697,4094,0,0,0,0,0,0,26.01,25.55,26.02,10.12,35.19
$GC,206,-1.72,-439.9,1849,3447,2697,4095,31.9,-13.0,13,220,0.00,3.75,0.00,0.000,1030,0.000,0.132,1850,2036,2698,2698,4094,0,0,0,0,0,0,25.79,25.74,25.79,10.12,35.07
$GC,283,-1.72,-439.9,1849,2036,2699,4094,41.0,-12.0,19,301,0.00,4.03,0.00,0.000,516,0.000,0.261,1849,611,2700,2700,4094,0,0,0,0,0,0,26.10,25.66,26.12,10.12,34.91
$GC,328,-1.72,-439.9,1850,611,2700,4095,46.8,-12.4,22,346,0.00,3.75,0.00,0.000,1030,0.000,0.144,1850,2033,2700,2700,4095,0,0,0,0,0,0,25.90,25.80,25.90,10.11,34.83
$GC,415,-1.72,-439.9,1849,2033,2702,4095,57.5,-12.1,28,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2033,2702,2702,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.11,34.36
$STATE,448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,448,begin apogee
$GC,451,-0.45,0.0,1849,2033,2703,4095,61.3,-11.9,30,498,4.55,0.00,26.62,4.452,10244,0.219,0.000,2256,2033,2174,2174,4094,0,0,0,0,0,0,25.90,25.01,23.89,10.11,34.52
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,500,1.72,439.9,2256,2033,2174,4094,64.1,0.0,33,538,7.50,0.00,26.08,4.382,11270,0.134,0.000,2943,2033,1661,1661,4094,0,0,0,0,0,0,25.33,25.53,23.51,10.00,34.56
$GC,601,1.72,439.9,2943,2033,1659,4094,56.3,11.8,40,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2033,1659,1659,4094,0,0,0,0,0,0,25.46,25.47,25.46,9.90,34.09
$GC,682,1.72,439.9,2943,2033,1657,4094,45.6,13.4,46,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2033,1656,1656,4094,0,0,0,0,0,0,25.68,25.70,25.70,9.91,34.24
$GC,762,1.72,439.9,2943,2033,1654,4094,34.9,13.3,52,781,0.00,4.07,0.00,0.000,516,0.000,0.263,2943,612,1654,1654,4095,0,0,1,0,0,0,25.82,25.41,25.84,9.90,34.36
$GC,809,1.72,439.9,2943,612,1653,4095,28.2,14.3,55,827,0.00,3.70,0.00,0.000,1030,0.000,0.137,2943,2011,1653,1653,4094,0,0,0,0,0,0,25.63,25.58,25.65,9.90,34.09
$GC,893,1.72,439.9,2943,2011,1651,4094,17.0,13.3,61,909,0.00,4.15,0.00,0.000,260,0.000,0.288,2944,3433,1650,1650,4094,0,0,0,0,0,0,25.98,25.53,25.99,9.90,35.07
$GC,937,1.72,439.9,2943,3433,1649,4094,10.2,15.1,64,955,0.00,3.78,0.00,0.000,1030,0.000,0.127,2943,2015,1648,1648,4094,0,0,0,0,0,0,25.77,25.70,25.79,9.90,34.44
$STATE,995,end climb,FINISH_DEPTH_REACHED
$STATE,995,begin subsurface finish
$FINISH1,2.5,1.025318,-162
$GC,1000,-0.26,-162.2,2943,2015,1647,4094,2.5,12.8,68,1029,6.43,4.28,-7.10,0.000,20996,0.146,4.258,2345,611,2368,2368,4094,0,0,1,0,0,0,25.82,24.32,25.84,9.90,34.68
$FINISH2,0.0
$STATE,1030,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1030,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,122838
$TT8_MAMPS,0.026964,0.259903
$HUMID,34.99
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.51,13.682
$10V_AH,8.80,10.394
$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,38.900,43.450,52.700,0.000,0.000,22.970,29.193,172.836,0.500,0.000,17.411,257.622,0.000,126.758,943.212,43.706,33.434,420.888,0.000,697.301,0.000,7.322,0.000
$DEVICE_MAMPS,409.695,4258.345,4452.019,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.261,89.595,150.561,393.901,672.652,0.000,0.000,0.000,0.000,0.000
$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,7429,70
$CAP_FILE_SIZE,27334,14
$CFSIZE,1024409600,1012613120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,300417,131947,5711.704,-16515.271,6,0.8,16,10.9,1.0,221.5,11,4.5