version: 66.12
glider: 401
mission: 20
dive: 75
start: 4 29 117 20 13 33
data:
$ID,401
$MISSION,20
$DIVE,75
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$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,20
$T_MISSION,42
$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,450
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,15
$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,3
$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
$GPS1,290417,195442,5714.6016,-16527.2227,4,1.1,15,10.9,0.7,349.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.7
$GPS2,290417,195442,5714.6016,-16527.2227,4,1.1,15,10.9,0.7,349.5,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5711.085,-16508.381
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.241318,-0.274441
$KALMAN_X,-3050.836914,1496.104126,817.291931,18958.402344,170.640320
$KALMAN_Y,6474.474121,881.482605,718.936890,-8030.277344,170.606323
$MHEAD_RNG_PITCHd_Wd,98.1,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$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,-1.72,-439.9,2343,2034,2367,4094,0.0,0.0,0,33,0.00,0.00,-3.20,0.000,16390,0.000,0.000,2343,2027,2694,2694,4095,0,0,0,0,0,0,25.88,24.48,25.88,10.06,35.23
$GC,35,-1.72,-439.9,2343,2030,2694,4094,0.7,0.0,1,50,5.53,0.00,0.00,0.000,4102,0.238,0.000,1865,2028,2693,2693,4094,0,0,0,0,0,0,25.30,25.35,25.34,10.13,35.82
$GC,113,-1.72,-439.9,1864,2030,2695,4094,8.4,-12.6,7,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2030,2695,2695,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.13,34.99
$GC,190,-1.72,-439.9,1864,2030,2696,4094,16.8,-11.3,13,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2030,2696,2696,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.13,34.72
$GC,267,-1.72,-439.9,1865,2029,2698,4095,26.0,-12.3,19,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2029,2698,2698,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.12,35.03
$GC,342,-1.72,-439.9,1865,2029,2699,4094,35.0,-11.5,25,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2029,2699,2699,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.12,34.99
$GC,419,-1.72,-439.9,1865,2029,2701,4095,43.2,-10.9,31,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2029,2701,2701,4095,0,0,0,0,0,0,26.13,26.14,26.13,10.12,34.76
$GC,503,-1.72,-439.9,1865,2029,2702,4094,52.2,-10.9,37,517,0.00,4.10,0.00,0.000,260,0.000,0.298,1865,3439,2703,2703,4095,0,0,0,0,0,0,26.18,25.72,26.20,10.12,34.76
$GC,533,-1.72,-439.9,1865,3439,2703,4094,55.5,-10.4,39,548,0.00,3.70,0.00,0.000,1030,0.000,0.137,1865,2043,2703,2703,4094,0,0,0,0,0,0,25.92,25.87,25.96,10.12,34.60
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,565,-0.45,0.0,1864,2043,2704,4094,58.7,-10.9,41,612,4.40,0.00,26.70,4.335,10246,0.228,0.000,2256,2042,2175,2175,4094,0,0,0,0,0,0,25.89,24.72,23.94,10.12,34.48
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,614,1.72,439.9,2256,2042,2175,4094,61.5,0.0,44,661,7.50,4.25,26.30,4.263,10500,0.144,0.278,2942,3442,1660,1660,4094,0,0,0,0,0,0,25.32,24.32,23.56,10.01,34.76
$GC,676,1.72,439.9,2941,3442,1660,4094,58.2,8.2,48,691,0.00,3.88,0.00,0.000,1030,0.000,0.122,2942,2025,1659,1659,4094,0,0,0,0,0,0,25.04,25.00,25.08,9.90,33.81
$GC,753,1.72,439.9,2941,2024,1658,4094,48.5,12.8,54,768,0.00,4.12,0.00,0.000,516,0.000,0.281,2942,608,1657,1657,4094,0,0,0,0,0,0,25.58,25.18,25.58,9.91,34.44
$GC,796,1.72,439.9,2941,608,1657,4094,42.7,13.4,57,814,0.00,3.78,0.00,0.000,1030,0.000,0.142,2942,2018,1656,1656,4094,0,0,0,0,0,0,25.43,25.38,25.46,9.90,34.48
$GC,880,1.72,439.9,2941,2018,1654,4095,32.2,12.3,63,896,0.00,4.15,0.00,0.000,260,0.000,0.293,2942,3431,1654,1654,4094,0,0,0,0,0,0,25.82,25.39,25.83,9.91,33.77
$GC,947,1.72,439.9,2941,3430,1653,4094,22.5,15.0,68,962,0.00,3.72,0.00,0.000,1030,0.000,0.134,2942,2042,1652,1652,4094,0,0,0,0,0,0,25.65,25.60,25.67,9.90,34.09
$GC,1024,1.72,439.9,2941,2041,1650,4094,12.4,13.3,74,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2041,1649,1649,4094,0,0,0,0,0,0,25.98,26.01,26.00,9.92,34.91
$STATE,1099,end climb,SURFACE_DEPTH_REACHED
$STATE,1099,begin surface coast
$FINISH,0.4,1.025289
$STATE,1126,end surface coast,CONTROL_FINISHED_OK
$STATE,1126,begin surface
$SM_CCo,1221,0.00,0.000,0,0,1647,453.34
$SM_GC,1.03,28.90,0.00,0.00,0.109,0.000,0.000,232,2039,1647,-6.81,0.55,453.34,0,0,0,0,0,0,25.50,26.10,25.75
$IRIDIUM_FIX,5744.64,-16600.79,290417,190657
$TT8_MAMPS,0.026215,0.261401
$HUMID,34.91
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.4
$24V_AH,23.56,10.271
$10V_AH,8.82,9.094
$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,46.325,35.450,53.000,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,284.899,59.731,128.794,783.568,20.958,33.418,408.537,0.000,796.364,0.000,5.449,0.000
$DEVICE_MAMPS,238.368,297.960,4335.318,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.913,105.171,176.303,444.508,770.917,0.000,0.000,0.000,0.000,0.000
$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,7462,82
$CAP_FILE_SIZE,22684,4
$CFSIZE,1024409600,1014824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,203440,5714.482,-16526.307,3,0.8,14,10.9,0.9,266.4,9,5.0