version: 66.12
glider: 401
mission: 20
dive: 38
start: 4 29 117 6 45 38
data:
$ID,401
$MISSION,20
$DIVE,38
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,290417,063606,5715.7422,-16542.0977,2,0.9,15,10.7,1.5,261.6,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-43.1
$GPS2,290417,064438,5715.7979,-16541.9238,6,0.9,20,10.7,0.7,117.9,9,4.9
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5712.282,-16523.072
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115466,-0.336290
$KALMAN_X,-4506.751953,-705.395264,244.055908,8428.261719,399.634460
$KALMAN_Y,3340.745361,1021.418030,823.075256,-2929.165771,182.869385
$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,-391.0,231,2021,1705,4094,0.0,0.0,0,33,0.00,0.00,-8.23,0.000,16390,0.000,0.000,232,2021,2635,2635,4094,0,0,0,0,0,0,25.97,25.11,25.98,9.94,36.17
$GC,34,-1.78,-391.0,232,2021,2636,4094,1.0,0.0,1,67,20.42,3.50,0.00,0.000,2308,0.412,0.276,1833,3213,2638,2638,4094,0,0,0,0,0,0,25.38,25.33,25.46,10.13,35.94
$GC,83,-1.78,-391.0,1832,3213,2639,4094,15.6,-30.1,4,98,0.00,3.17,0.00,0.000,1030,0.000,0.129,1833,2031,2639,2639,4094,0,0,0,0,0,0,25.59,25.52,25.60,10.13,36.25
$GC,160,-1.78,-391.0,1833,2031,2640,4095,26.2,-13.2,10,175,0.00,3.40,0.00,0.000,516,0.000,0.258,1833,829,2641,2641,4094,0,0,0,0,0,0,25.95,25.53,25.96,10.13,35.58
$GC,203,-1.78,-391.0,1832,829,2642,4094,32.2,-14.0,13,221,0.00,3.10,0.00,0.000,1030,0.000,0.139,1833,2006,2642,2642,4094,0,0,0,0,0,0,25.72,25.68,25.75,10.12,35.43
$GC,284,-1.78,-391.0,1832,2006,2643,4095,42.7,-12.7,19,299,0.00,3.53,0.00,0.000,260,0.000,0.286,1833,3220,2644,2644,4094,0,0,0,0,0,0,26.08,25.60,26.09,10.12,34.40
$GC,327,-1.78,-391.0,1832,3221,2645,4094,48.2,-13.1,22,348,0.00,3.20,0.00,0.000,1030,0.000,0.127,1833,2013,2645,2645,4094,0,0,0,0,0,0,25.84,25.79,25.91,10.13,34.20
$STATE,387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,387,begin apogee
$GC,390,-0.45,0.0,1833,2013,2646,4094,55.8,-12.4,26,423,4.78,0.00,23.95,4.196,10244,0.231,0.000,2256,2009,2174,2174,4094,0,0,0,0,0,0,25.82,25.03,23.96,10.12,34.17
$STATE,424,end apogee,CONTROL_FINISHED_OK
$STATE,424,begin climb
$GC,425,1.78,391.0,2256,2010,2174,4094,58.6,0.0,28,473,7.70,3.55,23.42,4.117,10500,0.146,0.263,2964,3219,1718,1718,4094,0,0,0,0,0,0,25.21,25.10,23.61,10.02,34.13
$GC,488,1.78,391.0,2964,3219,1718,4094,54.9,8.8,32,503,0.00,3.25,0.00,0.000,1030,0.000,0.119,2964,2030,1718,1718,4094,0,0,0,0,0,0,25.08,25.08,25.11,9.94,33.77
$GC,566,1.78,391.0,2963,2029,1716,4094,44.0,14.3,38,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2029,1717,1717,4094,0,0,0,0,0,0,25.63,25.64,25.63,9.93,34.32
$GC,643,1.78,391.0,2964,2030,1714,4094,32.9,14.3,44,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2030,1713,1713,4094,0,0,0,0,0,0,25.79,25.81,25.80,9.93,34.24
$GC,724,1.78,391.0,2964,2029,1711,4094,21.6,13.6,50,742,0.00,3.47,0.00,0.000,260,0.000,0.256,2964,3227,1710,1710,4094,0,0,0,0,0,0,25.91,25.48,25.93,9.93,33.97
$GC,757,1.78,391.0,2964,3226,1710,4094,16.8,14.0,52,772,0.00,3.22,0.00,0.000,1030,0.000,0.122,2964,2016,1709,1709,4094,0,0,0,0,0,0,25.68,25.64,25.70,9.93,34.72
$GC,834,1.78,391.0,2964,2016,1707,4094,5.9,13.7,58,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2016,1707,1707,4094,0,0,0,0,0,0,26.03,26.05,26.04,9.93,34.20
$STATE,863,end climb,FINISH_DEPTH_REACHED
$STATE,863,begin subsurface finish
$FINISH1,1.9,1.025112,-148
$GC,868,-0.24,-147.8,2964,2015,1706,4094,1.9,13.6,60,884,6.45,0.00,-6.05,0.000,20486,0.122,0.000,2353,2011,2352,2352,4095,0,0,0,0,0,0,25.82,24.62,25.84,9.94,34.09
$FINISH2,0.1
$STATE,885,end subsurface finish,CONTROL_FINISHED_OK
$STATE,885,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,063704
$TT8_MAMPS,0.026215,0.259154
$HUMID,34.64
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,9.6
$24V_AH,23.61,7.707
$10V_AH,8.90,8.065
$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,39.350,33.400,47.375,0.000,0.000,50.572,43.503,256.051,0.500,0.000,21.273,235.573,59.991,103.867,990.819,30.520,33.435,368.975,0.000,600.538,0.000,9.189,0.000
$DEVICE_MAMPS,412.178,285.545,4196.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.132,78.067,131.175,337.155,576.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3875,61
$CAP_FILE_SIZE,27705,7
$CFSIZE,1024409600,1016643584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290417,064438,5715.798,-16541.924,6,0.9,20,10.7,0.7,117.9,9,4.9