version: 66.12
glider: 401
mission: 20
dive: 5
start: 4 28 117 18 52 51
data:
$ID,401
$MISSION,20
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,55
$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,18
$T_MISSION,28
$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,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,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,2400
$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,55
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,17
$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,30
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,280417,184825,5714.9238,-16544.0020,2,0.9,36,10.7,0.0,0.0,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-47.8
$GPS2,280417,185152,5714.9365,-16543.9824,5,0.9,15,10.7,0.0,0.0,10,4.6
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.201311,-0.170744
$KALMAN_X,356.332275,130.261856,112.193893,815.023376,98.260269
$KALMAN_Y,511.098267,320.827728,297.540955,-460.203430,95.371216
$MHEAD_RNG_PITCHd_Wd,119.6,95211,-18.3,-10.185,-21.10,2908
$D_GRID,55
$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,-1.98,-195.5,243,1969,1792,4094,0.0,0.0,0,34,0.00,0.00,-5.43,0.000,16390,0.000,0.000,243,1969,2407,2407,4094,0,0,0,0,0,0,26.23,25.29,26.25,9.96,35.31
$GC,35,-1.98,-195.5,243,1968,2408,4094,1.2,0.0,1,68,19.45,3.40,0.00,0.000,2564,0.425,0.256,1752,776,2410,2410,4094,0,0,0,0,0,0,25.48,25.47,25.56,10.09,35.70
$GC,119,-1.98,-195.5,1752,776,2411,4094,18.6,-18.8,7,138,0.00,3.12,0.00,0.000,1030,0.000,0.142,1752,1963,2412,2412,4094,0,0,0,0,0,0,25.73,25.68,25.77,10.09,35.07
$GC,204,-1.98,-195.5,1752,1963,2414,4095,30.6,-13.5,13,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1963,2414,2414,4095,0,0,0,0,0,0,26.10,26.12,26.11,10.08,34.68
$GC,285,-1.98,-195.5,1752,1963,2416,4094,42.0,-13.9,19,300,0.00,3.42,0.00,0.000,260,0.000,0.258,1753,3163,2416,2416,4094,0,0,0,0,0,0,26.20,25.65,26.21,10.07,34.52
$GC,328,-1.98,-195.5,1752,3163,2417,4094,47.9,-13.8,22,346,0.00,3.10,0.00,0.000,1030,0.000,0.134,1753,1996,2418,2418,4094,0,0,0,0,0,0,25.90,25.82,25.92,10.09,34.40
$STATE,385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,385,begin apogee
$GC,388,-0.45,0.0,1753,1996,2419,4094,56.4,-14.7,26,425,5.70,0.00,13.00,3.891,10244,0.273,0.000,2244,1993,2174,2174,4094,0,0,0,0,0,0,25.84,25.03,24.24,10.08,34.95
$STATE,426,end apogee,CONTROL_FINISHED_OK
$STATE,426,begin climb
$GC,427,1.98,195.5,2244,1993,2174,4094,59.9,0.0,28,464,8.43,0.00,12.50,3.829,11270,0.149,0.000,3013,1993,1947,1947,4094,0,0,0,0,0,0,25.66,25.89,24.03,10.03,33.81
$GC,527,1.98,195.5,3012,1993,1945,4094,52.7,11.0,35,541,0.00,3.35,0.00,0.000,260,0.000,0.233,3013,3167,1945,1945,4094,0,0,0,0,0,0,25.86,25.44,25.87,9.98,33.65
$GC,580,1.98,195.5,3012,3167,1944,4094,45.3,14.0,39,595,0.00,3.17,0.00,0.000,1030,0.000,0.127,3013,1981,1944,1944,4094,0,0,0,0,0,0,25.67,25.62,25.70,9.98,33.77
$GC,658,1.98,195.5,3012,1981,1941,4094,34.3,13.6,45,672,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1981,1941,1941,4094,0,0,0,0,0,0,26.06,26.07,26.07,9.97,34.09
$GC,734,1.98,195.5,3012,1981,1939,4094,23.7,13.5,51,753,0.00,3.35,0.00,0.000,260,0.000,0.236,3012,3166,1939,1939,4094,0,0,1,0,0,0,26.13,25.65,26.15,9.97,34.13
$GC,827,1.98,195.5,3012,3166,1936,4094,10.5,14.6,58,842,0.00,3.15,0.00,0.000,1030,0.000,0.129,3013,1979,1936,1936,4094,0,0,0,0,0,0,25.89,25.83,25.92,9.97,34.36
$STATE,892,end climb,SURFACE_DEPTH_REACHED
$STATE,892,begin surface coast
$FINISH,0.1,1.009788
$STATE,919,end surface coast,CONTROL_FINISHED_OK
$STATE,919,begin surface
$SM_CCo,955,6.78,1.825,0,0,1822,300.51
$SM_GC,2.25,29.62,0.00,6.78,0.112,0.000,1.825,242,1978,1822,-6.73,0.18,300.51,0,0,0,0,0,0,25.93,26.28,24.90
$IRIDIUM_FIX,5744.64,-16600.79,280417,184509
$TT8_MAMPS,0.026964,0.260652
$HUMID,34.95
$INTERNAL_PRESSURE,9.89652
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,30.6,10.3
$24V_AH,24.03,6.049
$10V_AH,8.97,7.176
$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,63.200,26.075,25.500,6.775,0.000,0.000,0.000,0.000,0.500,0.000,16.798,245.093,0.000,129.751,644.671,17.141,33.434,355.784,0.000,640.288,0.000,5.454,0.000
$DEVICE_MAMPS,424.593,258.232,3890.861,1825.005,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.500,83.402,139.794,359.951,616.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344620
$DATA_FILE_SIZE,7417,65
$CAP_FILE_SIZE,31529,9
$CFSIZE,1024409600,1018265600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280417,190940,5714.858,-16543.643,2,1.0,13,10.7,0.0,0.0,9,4.8