version: 66.12
glider: 401
mission: 20
dive: 81
start: 4 29 117 22 30 45
data:
$ID,401
$MISSION,20
$DIVE,81
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,290417,221128,5713.8491,-16525.2344,5,0.9,18,10.9,0.5,294.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-0.8
$GPS2,290417,221128,5713.8491,-16525.2344,5,0.9,18,10.9,0.5,294.4,9,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.333,-16506.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.358579,0.070509
$KALMAN_X,-3482.519531,1723.684692,804.716248,21163.183594,-140.793884
$KALMAN_Y,6395.982422,753.412903,322.790100,-8819.275391,-184.486755
$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,-439.9,2346,2026,2368,4094,0.0,0.0,0,33,0.00,0.00,-2.58,0.000,16390,0.000,0.000,2347,2026,2695,2695,4094,0,0,0,0,0,0,25.87,24.47,25.86,10.06,35.50
$GC,35,-1.72,-439.9,2346,2026,2695,4094,1.1,0.0,1,49,5.38,0.00,0.00,0.000,4102,0.174,0.000,1864,2026,2696,2696,4094,0,0,0,0,0,0,25.32,25.39,25.36,10.13,35.66
$GC,111,-1.72,-439.9,1864,2026,2696,4094,10.0,-10.1,7,126,0.00,4.20,0.00,0.000,260,0.000,0.308,1864,3433,2696,2696,4095,0,0,0,0,0,0,25.77,25.33,25.78,10.13,34.91
$GC,153,-1.72,-439.9,1863,3433,2697,4094,13.6,-8.4,10,168,0.00,3.80,0.00,0.000,1030,0.000,0.134,1864,2018,2697,2697,4094,0,0,0,0,0,0,25.58,25.55,25.60,10.13,35.07
$GC,230,-1.72,-439.9,1864,2018,2698,4094,22.0,-11.1,16,249,0.00,4.03,0.00,0.000,516,0.000,0.276,1864,611,2698,2698,4095,0,0,0,0,0,0,25.94,25.50,25.94,10.13,34.80
$GC,265,-1.72,-439.9,1863,611,2699,4094,25.8,-11.1,18,280,0.00,3.75,0.00,0.000,1030,0.000,0.151,1864,2020,2700,2700,4095,0,0,0,0,0,0,25.70,25.65,25.73,10.13,34.80
$GC,343,-1.72,-439.9,1863,2020,2701,4094,34.3,-10.6,24,361,0.00,4.20,0.00,0.000,260,0.000,0.315,1864,3443,2701,2701,4094,0,0,0,0,0,0,26.04,25.58,26.06,10.12,34.56
$GC,389,-1.72,-439.9,1863,3443,2702,4094,39.6,-11.5,27,407,0.00,3.72,0.00,0.000,1030,0.000,0.137,1864,2044,2702,2702,4095,0,0,0,0,0,0,25.82,25.77,25.85,10.12,34.76
$GC,473,-1.72,-439.9,1863,2044,2703,4095,49.4,-11.4,33,494,0.00,4.07,0.00,0.000,516,0.000,0.273,1864,607,2704,2704,4095,0,0,0,0,0,0,26.14,25.69,26.15,10.12,35.27
$GC,532,-1.72,-439.9,1863,607,2705,4094,56.7,-12.4,37,547,0.00,3.72,0.00,0.000,1030,0.000,0.146,1864,2023,2705,2705,4095,0,0,0,0,0,0,25.91,25.85,25.94,10.12,34.24
$STATE,561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,565,-0.45,0.0,1864,2023,2706,4094,60.3,-12.1,39,599,4.40,0.00,26.75,4.385,10244,0.223,0.000,2256,2023,2173,2173,4095,0,0,0,0,0,0,25.86,24.99,23.91,10.12,34.48
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,601,1.72,439.9,2256,2023,2174,4095,62.9,0.0,41,651,7.57,0.00,26.30,4.298,11270,0.139,0.000,2946,2024,1662,1662,4094,0,0,0,0,0,0,25.25,25.43,23.53,10.00,34.44
$GC,714,1.72,439.9,2945,2024,1659,4094,52.9,12.8,49,733,0.00,4.12,0.00,0.000,516,0.000,0.273,2946,610,1659,1659,4094,0,0,1,0,0,0,25.48,25.08,25.49,9.91,33.65
$GC,771,1.72,439.9,2945,610,1658,4094,45.0,13.7,53,786,0.00,3.75,0.00,0.000,1030,0.000,0.142,2947,2011,1657,1657,4094,0,0,0,0,0,0,25.38,25.35,25.48,9.90,33.57
$GC,849,1.72,439.9,2945,2011,1656,4094,34.7,13.0,59,864,0.00,4.20,0.00,0.000,260,0.000,0.291,2946,3442,1655,1655,4094,0,0,0,0,0,0,25.78,25.37,25.79,9.90,34.32
$GC,892,1.72,439.9,2945,3442,1654,4094,29.0,13.2,62,907,0.00,3.83,0.00,0.000,1030,0.000,0.132,2946,2018,1654,1654,4094,0,0,0,0,0,0,25.59,25.53,25.61,9.90,33.97
$GC,969,1.72,439.9,2945,2019,1652,4094,18.0,13.5,68,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2019,1651,1651,4094,0,0,0,0,0,0,25.94,25.95,25.95,9.91,34.36
$GC,1046,1.72,439.9,2946,2019,1650,4094,7.6,13.5,74,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2019,1649,1649,4094,0,0,0,0,0,0,26.01,26.03,26.03,9.92,35.15
$STATE,1098,end climb,SURFACE_DEPTH_REACHED
$STATE,1098,begin surface coast
$FINISH,0.1,1.025302
$STATE,1124,end surface coast,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$SM_CCo,1220,0.00,0.000,0,0,1648,452.48
$SM_GC,0.89,28.85,0.00,0.00,0.104,0.000,0.000,232,2014,1648,-6.81,-0.50,452.48,0,0,0,0,0,0,25.45,26.10,25.74
$IRIDIUM_FIX,5554.28,-16557.83,290417,212329
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.39
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,8.5
$24V_AH,23.53,10.723
$10V_AH,8.82,9.267
$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,46.200,51.175,53.050,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,286.785,60.416,141.341,765.777,22.606,33.415,428.843,0.000,778.270,0.000,5.433,0.000
$DEVICE_MAMPS,223.470,315.341,4384.978,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.446,102.581,171.993,436.924,753.474,0.000,0.000,0.000,0.000,0.000
$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,7393,80
$CAP_FILE_SIZE,24778,8
$CFSIZE,1024409600,1014530048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,225154,5713.472,-16525.102,3,0.8,17,10.9,0.0,0.0,10,4.8