version: 66.12
glider: 401
mission: 20
dive: 6
start: 4 28 117 19 24 14
data:
$ID,401
$MISSION,20
$DIVE,6
$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,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,55
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,20
$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,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
$GPS1,280417,191813,5714.8687,-16543.5918,2,0.9,11,10.7,0.0,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-49.0
$GPS2,280417,192315,5714.8740,-16543.5664,5,0.9,15,10.7,0.5,113.9,10,4.4
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.227891,-0.133213
$KALMAN_X,469.044250,175.796509,143.454819,1043.506714,88.142914
$KALMAN_Y,540.212341,349.919067,310.701416,-647.518860,49.587250
$MHEAD_RNG_PITCHd_Wd,109.6,94775,-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,16,-1.98,-195.5,242,1979,1822,4095,0.0,0.0,0,37,0.00,0.00,-5.18,0.000,16390,0.000,0.000,242,1979,2406,2406,4094,0,0,0,0,0,0,26.31,25.37,26.32,9.96,35.46
$GC,39,-1.98,-195.5,242,1978,2406,4094,1.1,0.0,1,72,19.58,0.00,0.00,0.000,2054,0.430,0.000,1766,1976,2408,2408,4094,0,0,0,0,0,0,25.46,25.60,25.54,10.09,35.74
$GC,136,-1.98,-195.5,1765,1975,2410,4094,20.6,-15.2,8,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1976,2410,2410,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.09,35.11
$GC,221,-1.98,-195.5,1765,1975,2412,4094,32.7,-14.1,14,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1976,2413,2413,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.08,34.56
$GC,307,-1.98,-195.5,1765,1976,2415,4094,44.6,-14.2,20,325,0.00,3.47,0.00,0.000,260,0.000,0.253,1766,3191,2415,2415,4094,0,0,0,0,0,0,26.21,25.68,26.22,10.08,34.32
$GC,342,-1.98,-195.5,1766,3191,2415,4094,49.5,-14.5,22,356,0.00,3.15,0.00,0.000,1030,0.000,0.132,1766,2000,2416,2416,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.08,34.24
$STATE,382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,382,begin apogee
$GC,385,-0.45,0.0,1766,2001,2417,4095,55.6,-14.3,25,418,5.68,0.00,13.35,3.881,10246,0.271,0.000,2256,1998,2173,2173,4094,0,0,0,0,0,0,25.83,25.02,24.22,10.08,34.17
$STATE,419,end apogee,CONTROL_FINISHED_OK
$STATE,419,begin climb
$GC,420,1.98,195.5,2256,1999,2173,4094,58.9,0.0,27,450,8.40,3.42,12.68,3.804,10500,0.146,0.236,3025,3196,1945,1945,4094,0,0,0,0,0,0,25.65,24.81,24.02,10.03,34.60
$GC,477,1.98,195.5,3024,3195,1944,4094,55.3,9.8,31,495,0.00,3.22,0.00,0.000,1030,0.000,0.127,3025,2000,1944,1944,4094,0,0,0,0,0,0,25.47,25.42,25.51,9.98,33.65
$GC,558,1.98,195.5,3024,2000,1942,4094,44.4,13.9,37,575,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2000,1941,1941,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.97,34.20
$GC,637,1.98,195.5,3024,2000,1940,4094,33.3,14.0,43,651,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2000,1940,1940,4094,0,0,0,0,0,0,26.03,26.05,26.05,9.98,34.24
$GC,713,1.98,195.5,3024,2000,1939,4094,22.7,14.2,49,727,0.00,3.40,0.00,0.000,260,0.000,0.238,3025,3192,1937,1937,4094,0,0,0,0,0,0,26.12,25.63,26.13,9.97,34.05
$GC,801,1.98,195.5,3024,3192,1935,4094,10.1,14.7,56,819,0.00,3.17,0.00,0.000,1030,0.000,0.127,3025,1992,1934,1934,4094,0,0,0,0,0,0,25.87,25.82,25.91,9.96,34.72
$STATE,870,end climb,SURFACE_DEPTH_REACHED
$STATE,870,begin surface coast
$FINISH,0.1,1.013005
$STATE,897,end surface coast,CONTROL_FINISHED_OK
$STATE,897,begin surface
$SM_CCo,932,6.72,1.820,0,0,1822,300.51
$SM_GC,2.02,29.95,0.00,6.72,0.117,0.000,1.820,231,1991,1822,-6.81,-0.41,300.51,0,0,0,0,0,0,25.44,26.27,24.89
$IRIDIUM_FIX,5744.64,-16600.79,280417,191403
$TT8_MAMPS,0.026964,0.24717
$HUMID,34.52
$INTERNAL_PRESSURE,9.89652
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,37.2,10.2
$24V_AH,24.02,6.100
$10V_AH,8.98,7.206
$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,63.600,19.850,26.025,6.725,0.000,0.000,0.000,0.000,1.000,0.000,16.620,241.586,0.000,129.971,625.562,17.055,33.439,354.673,0.000,618.810,0.000,9.765,0.000
$DEVICE_MAMPS,429.559,253.266,3880.929,1820.039,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.078,80.831,135.494,344.724,595.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344688
$DATA_FILE_SIZE,7345,63
$CAP_FILE_SIZE,34560,9
$CFSIZE,1024409600,1018200064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280417,194040,5714.771,-16543.275,2,1.0,12,10.7,0.8,295.0,9,4.7