version: 66.12
glider: 401
mission: 20
dive: 83
start: 4 29 117 23 17 25
data:
$ID,401
$MISSION,20
$DIVE,83
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,290417,225834,5713.4473,-16525.2207,5,0.8,18,10.9,0.6,261.5,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-1.2
$GPS2,290417,225834,5713.4473,-16525.2207,5,0.8,18,10.9,0.6,261.5,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.932,-16506.389
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.339766,0.134619
$KALMAN_X,-3878.044678,1621.362671,615.190735,21859.822266,-194.678284
$KALMAN_Y,5817.146973,525.576965,46.547615,-8479.090820,-235.048065
$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,15,-1.72,-439.9,2332,2027,2367,4094,0.0,0.0,0,19,0.00,0.00,-1.62,0.000,16390,0.000,0.000,2333,2028,2699,2699,4094,0,0,0,0,0,0,26.13,24.64,26.10,10.06,35.31
$GC,20,-1.72,-439.9,2333,2027,2698,4094,0.0,0.0,0,39,5.07,0.00,0.00,0.000,4102,0.186,0.000,1870,2026,2698,2698,4094,0,0,0,0,0,0,25.85,25.89,25.89,10.14,35.35
$GC,100,-1.72,-439.9,1869,2027,2700,4094,11.6,-9.7,6,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2026,2700,2700,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.13,35.15
$GC,181,-1.72,-439.9,1869,2026,2702,4094,21.0,-10.9,12,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2026,2702,2702,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.13,34.99
$GC,259,-1.72,-439.9,1869,2026,2703,4095,29.3,-10.5,18,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2026,2703,2703,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.12,34.91
$GC,336,-1.72,-439.9,1869,2026,2705,4094,37.8,-11.3,24,354,0.00,4.10,0.00,0.000,260,0.000,0.308,1870,3434,2705,2705,4095,0,0,0,0,0,0,26.31,25.84,26.32,10.11,35.07
$GC,371,-1.72,-439.9,1869,3434,2705,4095,41.8,-11.6,26,385,0.00,3.70,0.00,0.000,1030,0.000,0.134,1870,2029,2705,2705,4095,0,0,0,0,0,0,26.06,26.01,26.09,10.12,35.11
$GC,451,-1.72,-439.9,1869,2029,2707,4095,50.6,-11.2,32,466,0.00,4.00,0.00,0.000,516,0.000,0.278,1870,609,2708,2708,4094,0,0,0,0,0,0,26.33,25.89,26.34,10.12,34.56
$GC,511,-1.72,-439.9,1869,609,2708,4095,57.7,-11.6,36,529,0.00,3.62,0.00,0.000,1030,0.000,0.146,1870,2001,2708,2708,4094,0,0,0,0,0,0,26.10,26.06,26.16,10.12,34.56
$STATE,543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,543,begin apogee
$GC,546,-0.45,0.0,1870,2001,2709,4094,61.9,-12.0,38,581,4.30,0.00,26.85,4.437,10244,0.221,0.000,2256,2001,2173,2173,4094,0,0,0,0,0,0,26.04,25.15,24.03,10.12,34.36
$STATE,582,end apogee,CONTROL_FINISHED_OK
$STATE,582,begin climb
$GC,583,1.72,439.9,2256,2001,2173,4094,64.1,0.0,40,630,7.53,0.00,26.23,4.350,11270,0.144,0.000,2944,2001,1661,1661,4094,0,0,0,0,0,0,25.38,25.59,23.60,10.01,34.48
$GC,692,1.72,439.9,2944,2002,1660,4094,55.1,12.9,48,707,0.00,4.05,0.00,0.000,516,0.000,0.271,2945,610,1659,1659,4094,0,0,1,0,0,0,25.53,25.14,25.55,9.91,34.48
$GC,747,1.72,439.9,2944,610,1658,4094,47.4,14.0,52,761,0.00,3.75,0.00,0.000,1030,0.000,0.142,2945,2012,1657,1657,4094,0,0,0,0,0,0,25.44,25.39,25.46,9.90,33.77
$GC,824,1.72,439.9,2944,2012,1656,4094,36.9,13.3,58,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2012,1655,1655,4094,0,0,0,0,0,0,25.83,25.85,25.84,9.90,33.97
$GC,900,1.72,439.9,2944,2012,1653,4094,26.9,13.4,64,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2012,1653,1653,4094,0,0,0,0,0,0,25.94,25.95,25.95,9.90,34.20
$GC,976,1.72,439.9,2944,2012,1651,4094,17.2,12.0,70,991,0.00,4.12,0.00,0.000,260,0.000,0.283,2945,3434,1651,1651,4094,0,0,0,0,0,0,26.02,25.58,26.03,9.91,34.36
$GC,1043,1.72,439.9,2944,3434,1650,4094,7.8,15.1,75,1061,0.00,3.78,0.00,0.000,1030,0.000,0.122,2944,2002,1649,1649,4094,0,0,0,0,0,0,25.82,25.78,25.84,9.91,34.76
$STATE,1087,end climb,SURFACE_DEPTH_REACHED
$STATE,1087,begin surface coast
$FINISH,0.6,1.025302
$STATE,1114,end surface coast,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$SM_CCo,1211,0.00,0.000,0,0,1647,453.34
$SM_GC,0.74,28.90,0.08,0.00,0.119,0.385,0.000,242,2029,1647,-6.77,-1.05,453.34,0,0,0,0,0,0,25.85,25.91,25.91
$IRIDIUM_FIX,5554.28,-16557.83,290417,220735
$TT8_MAMPS,0.026964,0.260652
$HUMID,35.35
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.9,10.0
$24V_AH,23.60,10.874
$10V_AH,8.83,9.325
$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,45.800,31.200,53.075,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,282.265,60.491,127.242,772.888,21.677,33.417,392.248,0.000,783.279,0.000,9.759,0.000
$DEVICE_MAMPS,220.987,384.865,4437.121,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.707,102.673,172.032,440.838,758.510,0.000,0.000,0.000,0.000,0.000
$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,7302,80
$CAP_FILE_SIZE,23121,8
$CFSIZE,1024409600,1014431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,233827,5713.102,-16525.277,3,0.7,18,10.9,0.7,198.3,11,5.0