version: 66.12
glider: 401
mission: 20
dive: 135
start: 4 30 117 18 59 32
data:
$ID,401
$MISSION,20
$DIVE,135
$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,23
$R_STBD_OVSHOOT,11
$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
$GPS1,300417,184031,5712.1963,-16512.4922,5,0.9,18,11.0,0.7,115.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-2.8
$GPS2,300417,184031,5712.1963,-16512.4922,5,0.9,18,11.0,0.7,115.8,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.503,-16453.789
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136813,-0.339001
$KALMAN_X,-7160.080566,1283.310181,176.198502,38676.187500,128.725662
$KALMAN_Y,9678.559570,46.399239,204.059937,-14337.255859,299.914459
$MHEAD_RNG_PITCHd_Wd,99.0,20000,-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,-439.9,2347,2015,2369,4095,0.0,0.0,0,33,0.00,0.00,-2.35,0.000,16390,0.000,0.000,2347,2015,2694,2694,4094,0,0,0,0,0,0,25.94,24.49,25.92,10.05,35.19
$GC,35,-1.72,-439.9,2347,2015,2694,4094,1.6,0.0,1,49,5.22,0.00,0.00,0.000,4102,0.144,0.000,1870,2015,2694,2694,4094,0,0,0,0,0,0,25.38,25.44,25.42,10.12,35.19
$GC,112,-1.72,-439.9,1870,2015,2696,4094,10.4,-11.0,7,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2015,2696,2696,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.12,35.03
$GC,188,-1.72,-439.9,1870,2015,2697,4094,19.2,-12.0,13,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2015,2697,2697,4095,0,0,0,0,0,0,25.92,25.94,25.94,10.13,34.64
$GC,264,-1.72,-439.9,1869,2015,2698,4094,27.8,-11.1,19,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2015,2699,2699,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.13,35.11
$GC,341,-1.72,-439.9,1869,2015,2700,4094,35.6,-10.0,25,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2014,2700,2700,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,34.83
$GC,421,-1.72,-439.9,1869,2015,2702,4094,44.1,-10.6,31,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2015,2702,2702,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.11,34.72
$GC,507,-1.72,-439.9,1869,2015,2703,4095,53.0,-10.9,37,521,0.00,4.18,0.00,0.000,260,0.000,0.295,1870,3446,2703,2703,4095,0,0,0,0,0,0,26.20,25.73,26.21,10.11,34.60
$GC,537,-1.72,-439.9,1869,3445,2704,4094,56.6,-10.8,39,552,0.00,3.75,0.00,0.000,1030,0.000,0.134,1870,2027,2704,2704,4094,0,0,0,0,0,0,25.96,25.91,25.98,10.12,34.87
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,570,-0.45,0.0,1870,2027,2705,4094,59.8,-11.2,41,604,4.30,0.00,26.60,4.392,10244,0.214,0.000,2255,2023,2174,2174,4094,0,0,0,0,0,0,25.90,25.03,23.91,10.12,34.48
$STATE,605,end apogee,CONTROL_FINISHED_OK
$STATE,605,begin climb
$GC,607,1.72,439.9,2255,2023,2174,4095,62.3,0.0,43,654,7.57,4.22,26.30,4.303,10500,0.151,0.295,2948,3442,1661,1661,4094,0,0,1,0,0,0,25.19,25.08,23.53,10.00,34.72
$GC,670,1.72,439.9,2948,3442,1661,4094,58.0,9.9,47,688,0.00,3.88,0.00,0.000,1030,0.000,0.127,2948,2029,1660,1660,4094,0,0,0,0,0,0,25.02,24.96,25.06,9.91,34.64
$GC,754,1.72,439.9,2948,2030,1658,4094,46.7,13.3,53,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2030,1658,1658,4094,0,0,0,0,0,0,25.58,25.60,25.59,9.91,33.77
$GC,831,1.72,439.9,2948,2029,1656,4094,35.7,13.9,59,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2030,1656,1656,4094,0,0,0,0,0,0,25.75,25.77,25.76,9.90,34.17
$GC,907,1.72,439.9,2948,2030,1654,4094,24.9,14.2,65,922,0.00,4.15,0.00,0.000,260,0.000,0.281,2948,3442,1653,1653,4094,0,0,0,0,0,0,25.86,25.44,25.88,9.91,34.28
$GC,950,1.72,439.9,2947,3442,1652,4094,19.0,13.7,68,964,0.00,3.75,0.00,0.000,1030,0.000,0.124,2948,2035,1652,1652,4094,0,0,0,0,0,0,25.65,25.61,25.70,9.91,34.28
$GC,1027,1.72,439.9,2948,2035,1650,4094,8.6,12.9,74,1045,0.00,4.05,0.00,0.000,516,0.000,0.271,2948,612,1649,1649,4094,0,0,0,0,0,0,25.99,25.57,26.01,9.91,34.83
$GC,1062,1.72,439.9,2948,612,1649,4094,3.4,14.2,76,1076,0.00,3.75,0.00,0.000,1030,0.000,0.137,2948,2033,1649,1649,4094,0,0,0,0,0,0,25.75,25.70,25.79,9.90,34.44
$STATE,1091,end climb,SURFACE_DEPTH_REACHED
$STATE,1091,begin surface coast
$FINISH,0.0,1.024656
$STATE,1118,end surface coast,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$SM_CCo,1213,0.00,0.000,0,0,1648,452.48
$SM_GC,0.94,28.80,0.00,0.00,0.104,0.000,0.000,242,2042,1648,-6.77,0.77,452.48,0,0,0,0,0,0,25.78,26.08,25.84
$IRIDIUM_FIX,5554.28,-16557.83,300417,175251
$TT8_MAMPS,0.026964,0.259154
$HUMID,35.11
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,8.5
$24V_AH,23.53,14.806
$10V_AH,8.77,10.827
$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,45.900,35.500,52.900,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,284.811,59.874,135.964,764.834,24.727,33.412,419.306,0.000,777.347,0.000,5.447,0.000
$DEVICE_MAMPS,213.538,295.477,4392.427,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.402,102.545,171.989,436.946,752.473,0.000,0.000,0.000,0.000,0.000
$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,7357,80
$CAP_FILE_SIZE,23637,7
$CFSIZE,1024409600,1011875840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300417,192037,5712.377,-16511.520,3,0.9,19,11.0,0.6,34.7,10,5.0