version: 66.12
glider: 401
mission: 20
dive: 35
start: 4 29 117 5 34 40
data:
$ID,401
$MISSION,20
$DIVE,35
$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,38
$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,400
$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,109
$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,16
$R_STBD_OVSHOOT,14
$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,2
$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
$GPS1,290417,051715,5715.4248,-16544.6230,5,0.9,14,10.7,0.0,0.0,9,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,3.4
$GPS2,290417,051715,5715.4248,-16544.6230,5,0.9,14,10.7,0.0,0.0,9,5.0
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5711.909,-16525.773
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157749,-0.318651
$KALMAN_X,-5446.376465,-1228.682617,-353.420502,7817.114746,176.972046
$KALMAN_Y,2212.442383,742.721375,637.186646,-2016.149170,224.265625
$MHEAD_RNG_PITCHd_Wd,98.3,20000,-12.7,-10.185,-15.98,5763
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.78,-391.0,2356,2029,2349,4094,0.0,0.0,0,18,0.00,0.00,-1.38,0.000,16390,0.000,0.000,2357,2030,2643,2643,4094,0,0,0,0,0,0,26.07,24.54,26.03,10.07,35.07
$GC,20,-1.78,-391.0,2356,2030,2643,4094,0.0,0.0,0,34,5.60,0.00,0.00,0.000,4102,0.196,0.000,1849,2029,2643,2643,4094,0,0,0,0,0,0,25.79,25.85,25.82,10.14,35.35
$GC,97,-1.78,-391.0,1849,2030,2645,4094,11.9,-9.7,6,111,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2030,2644,2644,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.13,35.11
$GC,173,-1.78,-391.0,1849,2030,2647,4095,20.9,-12.2,12,188,0.00,3.38,0.00,0.000,516,0.000,0.251,1850,825,2646,2646,4094,0,0,0,0,0,0,26.18,25.76,26.20,10.12,35.70
$GC,204,-1.78,-391.0,1849,825,2647,4094,24.7,-12.5,14,219,0.00,3.15,0.00,0.000,1030,0.000,0.139,1849,2027,2647,2647,4094,0,0,0,0,0,0,25.92,25.86,25.95,10.12,35.15
$GC,281,-1.78,-391.0,1849,2028,2649,4094,33.9,-11.0,20,296,0.00,3.45,0.00,0.000,260,0.000,0.291,1849,3221,2649,2649,4094,0,0,0,0,0,0,26.24,25.75,26.25,10.12,35.07
$GC,312,-1.78,-391.0,1849,3221,2649,4094,37.4,-11.3,22,327,0.00,3.12,0.00,0.000,1030,0.000,0.132,1849,2040,2649,2649,4094,0,0,0,0,0,0,25.98,25.93,26.01,10.12,34.24
$GC,390,-1.78,-391.0,1849,2040,2651,4094,46.4,-11.3,28,408,0.00,3.40,0.00,0.000,516,0.000,0.261,1849,825,2651,2651,4094,0,0,0,0,0,0,26.29,25.85,26.30,10.11,34.80
$GC,427,-1.78,-391.0,1849,825,2652,4094,50.6,-11.8,30,441,0.00,3.17,0.00,0.000,1030,0.000,0.142,1849,2040,2652,2652,4094,0,0,0,0,0,0,26.01,25.97,26.05,10.12,34.87
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,472,-0.45,0.0,1849,2040,2653,4095,56.4,-12.7,33,506,4.55,0.00,24.17,4.199,10244,0.231,0.000,2255,2040,2174,2174,4094,0,0,0,0,0,0,25.98,25.17,24.10,10.12,34.20
$STATE,507,end apogee,CONTROL_FINISHED_OK
$STATE,507,begin climb
$GC,508,1.78,391.0,2255,2040,2173,4094,59.2,0.0,35,542,7.70,0.00,23.35,4.122,11270,0.142,0.000,2962,2040,1718,1718,4094,0,0,0,0,0,0,25.43,25.62,23.70,10.01,33.73
$GC,604,1.78,391.0,2962,2040,1717,4094,51.2,12.3,42,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2040,1716,1716,4094,0,0,0,0,0,0,25.55,25.57,25.56,9.93,33.57
$GC,679,1.78,391.0,2962,2040,1714,4094,40.4,14.6,48,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2040,1714,1714,4095,0,0,0,0,0,0,25.75,25.77,25.77,9.92,33.57
$GC,760,1.78,391.0,2962,2040,1712,4094,29.0,14.2,54,775,0.00,3.40,0.00,0.000,260,0.000,0.258,2962,3221,1711,1711,4094,0,0,0,0,0,0,25.89,25.47,25.91,9.92,33.81
$GC,814,1.78,391.0,2962,3221,1710,4094,21.0,14.6,58,833,0.00,3.08,0.00,0.000,1030,0.000,0.119,2962,2064,1709,1709,4094,0,0,0,0,0,0,25.70,25.65,25.72,9.93,34.01
$GC,896,1.78,391.0,2962,2064,1707,4094,9.6,13.7,64,911,0.00,3.50,0.00,0.000,516,0.000,0.263,2962,826,1707,1707,4094,0,0,0,0,0,0,26.05,25.62,26.06,9.92,34.24
$GC,939,1.78,391.0,2962,826,1706,4095,3.8,13.6,67,957,0.00,3.22,0.00,0.000,1030,0.000,0.137,2963,2057,1706,1706,4094,0,0,0,0,0,0,25.82,25.77,25.86,9.93,34.36
$STATE,971,end climb,SURFACE_DEPTH_REACHED
$STATE,971,begin surface coast
$FINISH,0.1,1.025098
$STATE,998,end surface coast,CONTROL_FINISHED_OK
$STATE,998,begin surface
$SM_CCo,1094,0.00,0.000,0,0,1705,403.54
$SM_GC,1.04,29.08,0.10,0.00,0.112,0.295,0.000,231,2012,1705,-6.81,0.96,403.54,0,0,0,0,0,0,25.46,25.89,25.75
$IRIDIUM_FIX,5744.64,-16600.79,290417,050549
$TT8_MAMPS,0.026964,0.248668
$HUMID,34.76
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,10.2
$24V_AH,23.70,7.490
$10V_AH,8.93,7.983
$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,46.925,32.975,47.525,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,266.227,60.241,120.445,681.525,18.294,33.400,368.686,0.000,693.408,0.000,5.453,0.000
$DEVICE_MAMPS,230.919,295.477,4198.753,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.534,91.105,152.723,390.124,669.145,0.000,0.000,0.000,0.000,0.000
$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,7404,71
$CAP_FILE_SIZE,22917,6
$CFSIZE,1024409600,1016791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,055402,5715.600,-16543.477,2,0.9,36,10.7,0.0,0.0,9,4.7