version: 66.12
glider: 401
mission: 20
dive: 126
start: 4 30 117 15 37 33
data:
$ID,401
$MISSION,20
$DIVE,126
$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,17
$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
$GPS1,300417,153127,5711.2344,-16514.6367,4,0.9,20,10.9,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-41.4
$GPS2,300417,153632,5711.2466,-16514.7051,5,0.9,17,10.9,0.8,275.1,9,4.5
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.553,-16456.010
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.362189,-0.049168
$KALMAN_X,-7134.172363,1577.305542,410.255096,35903.312500,-275.455780
$KALMAN_Y,7252.813477,-482.549133,-749.956177,-12188.099609,0.901978
$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,16,-1.72,-439.9,231,2023,1647,4094,0.0,0.0,0,37,0.00,0.00,-9.75,0.000,16390,0.000,0.000,232,2023,2691,2691,4094,0,0,0,0,0,0,26.01,25.18,26.03,9.90,36.21
$GC,39,-1.72,-439.9,232,2023,2691,4095,0.8,0.0,1,76,20.40,4.00,0.00,0.000,2564,0.410,0.243,1842,612,2694,2694,4094,0,0,0,0,0,0,25.39,25.35,25.44,10.11,35.90
$GC,105,-1.72,-439.9,1842,612,2695,4094,21.8,-31.3,5,123,0.00,3.75,0.00,0.000,1030,0.000,0.142,1843,2017,2695,2695,4094,0,0,0,0,0,0,25.58,25.56,25.61,10.12,35.62
$GC,189,-1.72,-439.9,1842,2017,2697,4094,33.2,-13.3,11,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2017,2697,2697,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.11,35.07
$GC,268,-1.72,-439.9,1842,2017,2699,4094,42.6,-12.1,17,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2017,2699,2699,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,35.11
$GC,354,-1.72,-439.9,1842,2018,2700,4094,52.7,-11.8,23,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2018,2701,2701,4095,0,0,0,0,0,0,26.12,26.14,26.14,10.11,34.87
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,402,-0.45,0.0,1842,2018,2702,4095,58.4,-12.1,26,439,4.62,0.00,26.40,4.358,10244,0.216,0.000,2257,2019,2173,2173,4094,0,0,0,0,0,0,25.84,24.98,23.88,10.11,34.56
$STATE,440,end apogee,CONTROL_FINISHED_OK
$STATE,440,begin climb
$GC,441,1.72,439.9,2256,2018,2174,4094,61.0,0.0,28,479,7.53,0.00,26.10,4.288,11270,0.137,0.000,2944,2019,1661,1661,4094,0,0,0,0,0,0,25.27,25.44,23.49,10.00,34.36
$GC,542,1.72,439.9,2944,2019,1659,4094,52.9,12.2,35,561,0.00,4.25,0.00,0.000,260,0.000,0.281,2945,3448,1659,1659,4095,0,0,0,0,0,0,25.44,25.04,25.44,9.90,34.36
$GC,577,1.72,439.9,2944,3448,1658,4094,47.8,13.9,37,596,0.00,3.83,0.00,0.000,1030,0.000,0.127,2945,2035,1658,1658,4094,0,0,0,0,0,0,25.31,25.26,25.34,9.90,33.93
$GC,661,1.72,439.9,2944,2035,1656,4094,35.5,14.0,43,677,0.00,4.12,0.00,0.000,516,0.000,0.273,2945,604,1655,1655,4094,0,0,0,0,0,0,25.73,25.32,25.75,9.90,34.32
$GC,729,1.72,439.9,2944,605,1654,4094,26.3,13.5,48,743,0.00,3.75,0.00,0.000,1030,0.000,0.134,2945,2017,1653,1653,4094,0,0,0,0,0,0,25.58,25.53,25.61,9.91,34.44
$GC,807,1.72,439.9,2944,2017,1651,4094,16.6,12.1,54,820,0.00,4.15,0.00,0.000,260,0.000,0.288,2945,3439,1651,1651,4094,0,0,0,0,0,0,25.93,25.49,25.94,9.91,34.52
$GC,872,1.72,439.9,2944,3439,1649,4095,6.8,15.8,59,890,0.00,3.80,0.00,0.000,1030,0.000,0.124,2945,2008,1649,1649,4094,0,0,0,0,0,0,25.74,25.69,25.77,9.90,34.68
$STATE,904,end climb,FINISH_DEPTH_REACHED
$STATE,904,begin subsurface finish
$FINISH1,2.0,1.025318,-162
$GC,909,-0.26,-162.2,2944,2008,1648,4094,2.0,15.2,61,925,6.32,0.00,-6.95,0.000,20998,0.117,0.000,2346,2008,2370,2370,4094,0,0,0,0,0,0,25.79,24.63,25.82,9.90,35.15
$FINISH2,0.1
$STATE,926,end subsurface finish,CONTROL_FINISHED_OK
$STATE,926,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,144700
$TT8_MAMPS,0.026215,0.24717
$HUMID,35.27
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,8.5
$24V_AH,23.49,14.130
$10V_AH,8.80,10.567
$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,38.875,31.650,52.500,0.000,0.000,22.381,23.508,176.208,0.500,0.000,18.775,236.044,0.000,113.456,863.346,42.170,33.437,365.386,0.000,628.492,0.000,7.326,0.000
$DEVICE_MAMPS,409.695,288.028,4357.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.008,79.410,133.340,358.220,605.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3886,62
$CAP_FILE_SIZE,25095,15
$CFSIZE,1024409600,1012318208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,153632,5711.247,-16514.705,5,0.9,17,10.9,0.8,275.1,9,4.5