version: 66.12
glider: 401
mission: 20
dive: 2
start: 4 28 117 17 35 38
data:
$ID,401
$MISSION,20
$DIVE,2
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$D_ABORT,200
$D_NO_BLEED,200
$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,0
$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,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10.5
$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,32
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2132
$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
$GPS1,280417,173110,5714.8560,-16545.0742,2,0.9,12,10.7,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-46.6
$GPS2,280417,173441,5714.8784,-16545.0566,5,0.9,15,10.7,0.0,0.0,9,4.6
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.252583,-0.070782
$KALMAN_X,27.432743,27.432743,27.432743,255.324615,44.859726
$KALMAN_Y,151.816925,151.816925,151.816925,90.172867,248.260483
$MHEAD_RNG_PITCHd_Wd,95.0,96225,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-2.03,-195.5,243,1880,1729,4094,0.0,0.0,0,36,0.00,0.00,-5.57,0.000,16390,0.000,0.000,243,1880,2363,2363,4094,0,0,0,0,0,0,26.40,25.40,26.41,9.96,35.54
$GC,38,-2.03,-195.5,242,1880,2363,4094,1.1,0.0,1,66,19.83,0.00,0.00,0.000,2054,0.425,0.000,1787,1879,2364,2364,4094,0,0,0,0,0,0,25.56,25.71,25.63,10.10,36.02
$GC,128,-2.03,-195.5,1787,1879,2366,4094,16.8,-13.6,8,147,0.00,3.30,0.00,0.000,516,0.000,0.278,1788,719,2367,2367,4095,0,0,0,0,0,0,26.12,25.60,26.13,10.09,35.31
$GC,186,-2.03,-195.5,1787,719,2368,4095,25.4,-14.8,12,201,0.00,3.08,0.00,0.000,1030,0.000,0.142,1788,1899,2368,2368,4094,0,0,0,0,0,0,25.88,25.84,25.91,10.09,34.99
$GC,270,-2.03,-195.5,1787,1899,2369,4094,35.6,-11.0,18,285,0.00,3.35,0.00,0.000,260,0.000,0.241,1788,3090,2370,2370,4095,0,0,0,0,0,0,26.25,25.67,26.26,10.08,34.87
$GC,301,-2.03,-195.5,1787,3090,2370,4094,39.0,-10.9,20,316,0.00,3.03,0.00,0.000,1030,0.000,0.137,1788,1948,2370,2370,4094,0,0,0,0,0,0,25.90,25.84,25.94,10.08,34.44
$STATE,354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,355,begin apogee
$GC,358,-0.48,0.0,1788,1875,2372,4094,45.3,-11.3,24,396,5.70,0.03,12.90,3.511,10244,0.271,0.295,2279,1903,2130,2130,4094,0,0,0,0,0,0,25.79,25.13,24.37,10.08,34.60
$STATE,397,end apogee,CONTROL_FINISHED_OK
$STATE,397,begin climb
$GC,398,2.03,195.5,2279,1903,2130,4095,48.0,0.0,26,431,8.73,0.00,12.50,3.456,11270,0.146,0.000,3081,1902,1902,1902,4094,0,0,0,0,0,0,25.75,25.97,24.17,10.03,34.20
$GC,494,2.03,195.5,3080,1903,1901,4094,38.4,14.9,33,508,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1902,1900,1900,4094,0,0,0,0,0,0,25.93,25.94,25.94,9.98,34.52
$GC,570,2.03,195.5,3081,1902,1898,4094,25.7,16.9,39,584,0.00,3.33,0.00,0.000,260,0.000,0.219,3081,3085,1897,1897,4094,0,0,0,0,0,0,26.05,25.60,26.06,9.97,34.40
$GC,681,2.03,195.5,3081,3085,1893,4094,6.6,16.9,48,696,0.00,3.05,0.00,0.000,1030,0.000,0.134,3081,1938,1893,1893,4094,0,0,0,0,0,0,25.82,25.76,25.86,9.97,33.97
$STATE,710,end climb,SURFACE_DEPTH_REACHED
$STATE,710,begin surface coast
$FINISH,0.1,1.000938
$STATE,726,end surface coast,CONTROL_FINISHED_OK
$STATE,726,begin surface
$SM_CCo,763,6.75,1.823,0,0,1779,301.37
$SM_GC,1.96,30.50,0.10,6.75,0.117,0.365,1.823,242,1885,1779,-6.89,0.82,301.37,0,0,0,0,0,0,25.83,25.91,24.85
$IRIDIUM_FIX,5744.64,-16600.79,280417,172703
$TT8_MAMPS,0.026964,0.242676
$HUMID,34.40
$INTERNAL_PRESSURE,9.89652
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,31.3,10.1
$24V_AH,24.17,5.904
$10V_AH,9.01,7.087
$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,64.750,19.400,25.400,6.750,0.000,0.000,0.000,0.000,0.500,0.000,16.625,212.545,0.000,112.176,507.239,14.409,30.288,305.233,0.000,503.004,0.000,5.454,0.000
$DEVICE_MAMPS,424.593,365.001,3510.962,1822.522,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,34.769,65.397,109.697,278.515,481.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,3953,51
$CAP_FILE_SIZE,43084,5
$CFSIZE,1024409600,1018396672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280417,174950,5714.958,-16544.736,2,1.0,47,10.7,0.0,0.0,8,3.0