version: 66.12
glider: 401
mission: 20
dive: 36
start: 4 29 117 5 59 50
data:
$ID,401
$MISSION,20
$DIVE,36
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,290417,055402,5715.5996,-16543.4766,2,0.9,36,10.7,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-45.1
$GPS2,290417,055849,5715.6450,-16543.3926,6,0.9,20,10.7,0.6,85.3,9,4.1
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5712.129,-16524.541
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146301,-0.324068
$KALMAN_X,-4933.992188,-1025.604248,-142.984650,8095.091309,290.372223
$KALMAN_Y,2666.226562,856.839233,743.525879,-2295.639404,195.787109
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.78,-391.0,231,2012,1705,4094,0.0,0.0,0,33,0.00,0.00,-8.32,0.000,16390,0.000,0.000,231,2012,2634,2634,4094,0,0,0,0,0,0,26.04,25.19,26.06,9.94,35.86
$GC,34,-1.78,-391.0,230,2012,2634,4095,1.0,0.0,1,67,20.40,3.53,0.00,0.000,2308,0.415,0.276,1831,3215,2637,2637,4094,0,0,0,0,0,0,25.44,25.39,25.51,10.14,35.70
$GC,82,-1.78,-391.0,1831,3215,2637,4094,15.3,-29.6,4,101,0.00,3.15,0.00,0.000,1030,0.000,0.129,1832,2039,2638,2638,4094,0,0,0,0,0,0,25.63,25.58,25.65,10.13,35.46
$GC,164,-1.78,-391.0,1831,2039,2639,4095,26.0,-12.5,10,179,0.00,3.42,0.00,0.000,516,0.000,0.258,1832,826,2640,2640,4094,0,0,0,0,0,0,26.00,25.58,26.01,10.13,35.50
$GC,206,-1.78,-391.0,1831,826,2641,4094,31.6,-13.3,13,220,0.00,3.10,0.00,0.000,1030,0.000,0.139,1832,2005,2641,2641,4095,0,0,0,0,0,0,25.77,25.72,25.79,10.13,34.72
$GC,284,-1.78,-391.0,1831,2005,2642,4094,41.3,-12.5,19,298,0.00,3.50,0.00,0.000,260,0.000,0.281,1831,3215,2643,2643,4095,0,0,0,0,0,0,26.11,25.64,26.13,10.12,34.40
$GC,325,-1.78,-391.0,1831,3215,2643,4094,46.7,-12.8,22,339,0.00,3.17,0.00,0.000,1030,0.000,0.134,1832,2020,2644,2644,4095,0,0,0,0,0,0,25.87,25.82,25.90,10.12,34.32
$STATE,392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,392,begin apogee
$GC,395,-0.45,0.0,1832,2020,2645,4095,55.5,-13.2,27,432,4.80,0.00,23.75,4.186,10244,0.231,0.000,2258,2016,2174,2174,4094,0,0,0,0,0,0,25.84,25.06,24.01,10.12,34.24
$STATE,433,end apogee,CONTROL_FINISHED_OK
$STATE,433,begin climb
$GC,435,1.78,391.0,2257,2016,2174,4094,58.4,0.0,29,478,7.68,3.53,23.52,4.114,10500,0.142,0.263,2965,3219,1718,1718,4094,0,0,0,0,0,0,25.26,25.18,23.65,10.02,34.87
$GC,507,1.94,493.8,2965,3219,1717,4094,54.3,8.4,34,526,0.38,3.25,7.55,3.156,11270,0.132,0.119,3003,2025,1597,1597,4094,0,0,0,0,0,0,25.16,25.11,23.84,9.94,33.73
$GC,589,1.94,493.8,3003,2025,1595,4094,41.8,15.4,40,604,0.00,3.42,0.00,0.000,516,0.000,0.256,3003,827,1595,1595,4094,0,0,0,0,0,0,25.59,25.21,25.60,9.91,33.69
$GC,620,1.94,493.8,3003,828,1594,4094,37.1,15.7,42,639,0.00,3.22,0.00,0.000,1030,0.000,0.137,3004,2035,1593,1593,4094,0,0,0,0,0,0,25.41,25.37,25.45,9.90,34.36
$GC,701,1.94,493.8,3003,2035,1591,4094,24.1,15.6,48,716,0.00,3.42,0.00,0.000,260,0.000,0.266,3004,3215,1590,1590,4094,0,0,0,0,0,0,25.82,25.40,25.84,9.90,33.65
$GC,767,1.94,493.8,3003,3215,1589,4094,13.3,16.6,53,785,0.00,3.15,0.00,0.000,1030,0.000,0.127,3004,2038,1588,1588,4094,0,0,0,0,0,0,25.67,25.62,25.68,9.90,33.85
$STATE,836,end climb,FINISH_DEPTH_REACHED
$STATE,836,begin subsurface finish
$FINISH1,2.3,1.025077,-145
$GC,840,-0.23,-145.4,3003,2035,1586,4094,2.3,15.3,58,873,6.90,0.00,-7.07,0.000,20486,0.124,0.000,2355,2035,2345,2345,4094,0,0,0,0,0,0,25.75,25.25,25.79,9.91,34.09
$FINISH2,0.2
$STATE,874,end subsurface finish,CONTROL_FINISHED_OK
$STATE,874,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,051432
$TT8_MAMPS,0.026215,0.27713
$HUMID,34.44
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,9.6
$24V_AH,23.65,7.568
$10V_AH,8.85,8.010
$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,40.150,39.875,54.825,0.000,0.000,23.959,20.277,163.415,0.500,0.000,21.218,234.507,0.000,105.413,817.833,28.310,33.434,366.413,0.000,589.811,0.000,7.324,0.000
$DEVICE_MAMPS,414.661,280.579,4186.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.451,76.779,129.035,327.181,564.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,3879,60
$CAP_FILE_SIZE,25303,8
$CFSIZE,1024409600,1016741888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290417,055849,5715.645,-16543.393,6,0.9,20,10.7,0.6,85.3,9,4.1