version: 66.12
glider: 401
mission: 20
dive: 12
start: 4 28 117 21 30 1
data:
$ID,401
$MISSION,20
$DIVE,12
$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,28
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$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,12
$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,30
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,280417,212430,5714.2534,-16542.5742,2,0.8,13,10.7,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-49.6
$GPS2,280417,212902,5714.2314,-16542.6074,6,0.7,15,10.7,0.0,0.0,11,4.8
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.246482,0.094481
$KALMAN_X,55.519676,58.172050,83.466354,2599.599854,-35.522804
$KALMAN_Y,-97.608505,295.245361,129.794693,-959.182251,-164.758133
$MHEAD_RNG_PITCHd_Wd,58.3,93528,-18.3,-10.185,-21.10,2908
$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,-1.98,-195.5,240,2018,1822,4094,0.0,0.0,0,34,0.00,0.00,-5.15,0.000,16390,0.000,0.000,241,2019,2405,2405,4094,0,0,0,0,0,0,26.06,25.15,26.06,9.96,35.31
$GC,35,-1.98,-195.5,241,2019,2405,4094,1.2,0.0,1,64,19.92,3.47,0.00,0.000,2308,0.437,0.266,1766,3221,2407,2407,4094,0,0,0,0,0,0,25.32,25.30,25.41,10.08,35.35
$GC,127,-1.98,-195.5,1765,3221,2409,4094,19.0,-16.1,8,145,0.00,3.22,0.00,0.000,1030,0.000,0.132,1765,2019,2409,2409,4094,0,0,0,0,0,0,25.63,25.58,25.66,10.07,35.58
$GC,215,-1.98,-195.5,1765,2018,2412,4094,32.5,-15.5,14,234,0.00,3.38,0.00,0.000,516,0.000,0.266,1766,829,2412,2412,4094,0,0,0,0,0,0,26.03,25.58,26.04,10.07,34.80
$GC,308,-1.98,-195.5,1765,829,2414,4095,46.8,-15.7,21,326,0.00,3.00,0.00,0.000,1030,0.000,0.144,1766,1973,2414,2414,4094,0,0,0,0,0,0,25.83,25.83,25.86,10.07,34.80
$STATE,365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,365,begin apogee
$GC,369,-0.45,0.0,1765,2049,2416,4094,55.3,-14.4,25,406,5.70,0.00,13.12,3.849,10244,0.271,0.000,2257,2049,2174,2174,4094,0,0,0,0,0,0,25.78,24.97,24.17,10.07,34.01
$STATE,407,end apogee,CONTROL_FINISHED_OK
$STATE,407,begin climb
$GC,408,1.98,195.5,2256,2049,2174,4095,58.7,0.0,27,445,8.43,0.00,12.60,3.806,11270,0.146,0.000,3025,2049,1946,1946,4094,0,0,0,0,0,0,25.59,25.82,23.98,10.01,34.17
$GC,508,1.98,195.5,3024,2049,1944,4095,50.4,12.6,34,522,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2049,1944,1944,4094,0,0,0,0,0,0,25.80,25.82,25.82,9.97,34.24
$GC,584,1.98,195.5,3024,2049,1942,4094,39.9,13.9,40,597,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2049,1941,1941,4094,0,0,0,0,0,0,25.94,25.95,25.95,9.96,33.97
$GC,660,1.98,195.5,3024,2049,1941,4094,29.4,13.6,46,675,0.00,3.50,0.00,0.000,516,0.000,0.266,3025,826,1940,1940,4094,0,0,0,0,0,0,26.03,25.59,26.05,9.97,33.73
$GC,703,1.98,195.5,3024,826,1939,4094,24.3,12.2,49,721,0.00,3.05,0.00,0.000,1030,0.000,0.134,3025,1997,1939,1939,4094,0,0,0,0,0,0,25.80,25.77,25.84,9.96,33.73
$GC,785,1.98,195.5,3024,1997,1937,4094,14.4,12.3,55,799,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1997,1936,1936,4094,0,0,0,0,0,0,26.15,26.16,26.15,9.96,34.36
$GC,861,1.98,195.5,3024,1997,1934,4094,4.8,12.5,61,875,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1997,1934,1934,4094,0,0,0,0,0,0,26.20,26.22,26.21,9.96,34.76
$STATE,889,end climb,FINISH_DEPTH_REACHED
$STATE,889,begin subsurface finish
$FINISH1,1.2,1.025032,0
$GC,894,0.00,0.0,3025,1996,1933,4094,1.2,12.1,63,910,6.53,3.67,-2.30,0.000,20740,0.149,4.234,2420,3215,2177,2177,4094,0,0,0,0,0,0,25.93,24.45,25.96,9.96,35.03
$FINISH2,0.1
$STATE,911,end subsurface finish,CONTROL_FINISHED_OK
$STATE,911,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,280417,204426
$TT8_MAMPS,0.026215,0.249417
$HUMID,34.56
$INTERNAL_PRESSURE,9.95511
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,30.0,9.4
$24V_AH,23.98,6.350
$10V_AH,8.96,7.367
$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,40.575,23.425,25.725,0.000,0.000,24.025,23.973,151.960,0.500,0.000,16.208,241.572,0.000,94.039,843.963,26.974,33.461,330.735,0.000,631.197,0.000,7.324,0.000
$DEVICE_MAMPS,437.008,4233.515,3848.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.684,82.075,137.648,351.822,605.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344640
$DATA_FILE_SIZE,7287,64
$CAP_FILE_SIZE,23041,8
$CFSIZE,1024409600,1017921536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280417,212902,5714.231,-16542.607,6,0.7,15,10.7,0.0,0.0,11,4.8