version: 66.12
glider: 401
mission: 20
dive: 1
start: 4 28 117 16 49 24
data:
$ID,401
$MISSION,20
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$D_ABORT,200
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,25
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$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,0
$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,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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,2082
$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,30
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$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
$GPS1,280417,164452,5714.5552,-16545.4160,2,0.8,12,10.7,1.4,213.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-24.5
$GPS2,280417,164828,5714.5757,-16545.3965,5,0.9,15,10.7,0.0,0.0,10,4.7
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.253213,-0.068493
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,94.4,96408,-18.1,-10.000,-20.87,2960
$D_GRID,45
$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,-1.82,-195.5,243,1879,63,4094,0.0,0.0,0,37,0.00,0.00,-20.10,0.000,16390,0.000,0.000,243,1879,2314,2314,4094,0,0,0,0,0,0,26.44,24.25,26.46,9.63,35.19
$GC,39,-1.82,-195.5,243,1879,2314,4094,0.4,0.0,1,72,20.45,3.38,0.00,0.000,2308,0.410,0.221,1886,3092,2315,2315,4094,0,0,0,0,0,0,25.82,25.82,25.91,10.10,35.31
$GC,313,-1.82,-195.5,1885,3092,2320,4094,27.6,-9.6,23,327,0.00,3.12,0.00,0.000,1030,0.000,0.129,1886,1902,2320,2320,4094,0,0,0,0,0,0,25.97,25.91,25.99,10.08,34.99
$GC,396,-1.82,-195.5,1885,1902,2322,4094,36.0,-10.0,29,414,0.00,3.35,0.00,0.000,260,0.000,0.231,1886,3093,2322,2322,4094,0,0,0,0,0,0,26.52,25.70,26.53,10.08,35.27
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,501,begin apogee
$GC,507,-0.42,0.0,1886,1897,2324,4095,45.8,-9.2,37,536,5.15,0.00,13.05,3.489,10244,0.263,0.000,2334,1898,2081,2081,4094,0,0,0,0,0,0,25.93,25.30,24.54,10.07,34.80
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,538,1.82,195.5,2334,1897,2081,4094,47.9,0.0,39,576,7.68,3.38,12.50,3.434,10756,0.171,0.295,3045,709,1853,1853,4094,0,0,0,0,0,0,25.84,25.72,24.32,10.02,34.40
$GC,614,1.82,195.5,3044,709,1851,4094,40.7,11.8,44,633,0.00,3.10,0.00,0.000,1030,0.000,0.139,3045,1896,1851,1851,4094,0,0,0,0,0,0,25.77,25.74,25.81,9.97,34.91
$GC,696,1.82,195.5,3045,1896,1849,4094,26.8,17.4,50,711,0.00,3.33,0.00,0.000,260,0.000,0.228,3045,3084,1848,1848,4094,0,0,0,0,0,0,26.16,25.67,26.17,9.97,34.68
$GC,797,1.82,195.5,3045,3084,1844,4094,9.2,17.3,58,811,0.00,3.00,0.00,0.000,1030,0.000,0.134,3045,1953,1844,1844,4094,0,0,0,0,0,0,25.87,25.80,25.92,9.97,34.44
$STATE,849,end climb,SURFACE_DEPTH_REACHED
$STATE,849,begin surface coast
$FINISH,0.1,0.999923
$STATE,877,end surface coast,CONTROL_FINISHED_OK
$STATE,877,begin surface
$SM_CCo,913,6.65,1.800,0,0,1729,300.51
$SM_GC,1.77,30.08,0.15,6.65,0.122,0.295,1.800,243,1880,1729,-6.98,0.68,300.51,0,0,0,0,0,0,25.90,25.96,24.91
$IRIDIUM_FIX,5744.64,-16600.79,280417,164041
$TT8_MAMPS,0.026964,0.246421
$HUMID,34.40
$INTERNAL_PRESSURE,9.88675
$TCM_TEMP,0.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,30.7,32.9
$24V_AH,24.25,5.844
$10V_AH,9.03,7.056
$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,63.350,25.950,25.550,6.650,0.000,0.000,0.000,0.000,0.500,0.000,16.791,238.542,0.000,111.709,630.511,15.432,29.320,292.668,0.000,626.950,0.000,5.514,0.000
$DEVICE_MAMPS,409.695,295.477,3488.615,1800.175,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.292,82.301,137.666,349.047,603.734,0.000,0.000,0.000,0.000,0.000
$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,7332,64
$CAP_FILE_SIZE,69019,6
$CFSIZE,1024409600,1018413056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280417,170532,5714.691,-16545.186,2,0.9,13,10.7,0.5,6.3,10,4.6