version: 66.12
glider: 401
mission: 20
dive: 20
start: 4 29 117 0 19 33
data:
$ID,401
$MISSION,20
$DIVE,20
$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,20
$R_STBD_OVSHOOT,22
$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,45
$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
$GPS1,290417,001159,5713.7769,-16544.7930,2,0.8,12,10.7,0.0,0.0,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-49.1
$GPS2,290417,001834,5713.7642,-16544.9434,5,0.7,16,10.7,0.0,63.2,11,4.6
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.253783,0.072623
$KALMAN_X,-2791.606934,-611.888611,-475.071167,4344.702637,-308.110046
$KALMAN_Y,-1041.028320,-63.332966,-257.403564,-139.960938,-69.737869
$MHEAD_RNG_PITCHd_Wd,63.3,95586,-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,-195.5,242,2007,1822,4094,0.0,0.0,0,37,0.00,0.00,-5.20,0.000,16390,0.000,0.000,242,2007,2406,2406,4094,0,0,0,0,0,0,26.06,25.16,26.06,9.96,35.50
$GC,39,-1.98,-195.5,242,2007,2407,4094,1.2,0.0,1,72,20.02,3.53,0.00,0.000,2308,0.442,0.263,1765,3213,2408,2408,4094,0,0,0,0,0,0,25.27,25.25,25.35,10.09,35.74
$GC,112,-1.98,-195.5,1764,3213,2410,4094,18.2,-21.5,6,131,0.00,3.17,0.00,0.000,1030,0.000,0.129,1765,2030,2410,2410,4094,0,0,0,0,0,0,25.55,25.51,25.58,10.09,35.70
$GC,195,-1.98,-195.5,1764,2030,2413,4094,30.0,-14.0,12,210,0.00,3.40,0.00,0.000,516,0.000,0.266,1765,834,2413,2413,4094,0,0,0,0,0,0,25.96,25.53,25.97,10.08,35.11
$GC,285,-1.98,-195.5,1764,834,2414,4094,43.5,-15.2,19,305,0.00,2.97,0.00,0.000,1030,0.000,0.139,1765,1969,2415,2415,4094,0,0,0,0,0,0,25.77,25.73,25.81,10.07,34.68
$STATE,369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,370,begin apogee
$GC,373,-0.45,0.0,1765,2047,2417,4094,55.5,-14.6,25,406,5.70,0.00,13.43,3.938,10244,0.273,0.000,2255,2047,2173,2173,4094,0,0,0,0,0,0,25.76,24.94,24.13,10.07,34.24
$STATE,407,end apogee,CONTROL_FINISHED_OK
$STATE,407,begin climb
$GC,408,1.98,195.5,2255,2047,2173,4094,58.9,0.0,27,441,8.43,0.00,12.60,3.883,11270,0.139,0.000,3025,2047,1946,1946,4094,0,0,0,0,0,0,25.54,25.76,23.90,10.02,34.60
$GC,503,1.98,195.5,3025,2047,1944,4094,51.5,12.4,34,521,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2047,1943,1943,4094,0,0,0,0,0,0,25.75,25.77,25.77,9.97,34.09
$GC,583,1.98,195.5,3025,2047,1941,4094,40.6,13.4,40,598,0.00,3.28,0.00,0.000,260,0.000,0.238,3025,3194,1941,1941,4094,0,0,0,0,0,0,25.90,25.48,25.91,9.97,33.81
$GC,636,1.98,195.5,3025,3194,1940,4094,32.5,15.2,44,651,0.00,3.15,0.00,0.000,1030,0.000,0.124,3026,2013,1940,1940,4094,0,0,0,0,0,0,25.70,25.65,25.73,9.97,34.36
$GC,713,1.98,195.5,3025,2013,1937,4094,22.4,12.5,50,731,0.00,3.35,0.00,0.000,516,0.000,0.268,3026,831,1937,1937,4094,0,0,0,0,0,0,26.06,25.62,26.07,9.97,33.81
$GC,818,1.98,195.5,3025,831,1934,4094,7.7,14.3,58,832,0.00,2.97,0.00,0.000,1030,0.000,0.129,3026,1981,1934,1934,4094,0,0,0,0,0,0,25.86,25.84,25.91,9.97,34.01
$STATE,859,end climb,FINISH_DEPTH_REACHED
$STATE,859,begin subsurface finish
$FINISH1,2.3,1.025039,0
$GC,865,0.00,0.0,3025,2037,1933,4094,2.3,13.3,61,884,7.00,0.00,-2.30,0.000,20486,0.273,0.000,2421,2039,2178,2178,4094,0,0,0,0,0,0,25.82,25.32,25.87,9.97,34.24
$FINISH2,0.3
$STATE,885,end subsurface finish,CONTROL_FINISHED_OK
$STATE,885,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,280417,233209
$TT8_MAMPS,0.026215,0.271887
$HUMID,34.20
$INTERNAL_PRESSURE,9.96488
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,45.5,6.9
$24V_AH,23.90,6.675
$10V_AH,8.90,7.581
$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,41.150,26.050,26.025,0.000,0.000,46.675,50.854,157.377,0.500,0.000,18.120,235.784,60.114,91.651,888.235,27.413,33.440,319.861,0.000,613.215,0.000,7.306,0.000
$DEVICE_MAMPS,441.974,325.273,3938.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.370,79.539,133.363,341.506,588.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344636
$DATA_FILE_SIZE,7426,62
$CAP_FILE_SIZE,23682,8
$CFSIZE,1024409600,1017528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290417,001834,5713.764,-16544.943,5,0.7,16,10.7,0.0,63.2,11,4.6