version: 66.12
glider: 401
mission: 20
dive: 7
start: 4 28 117 19 45 20
data:
$ID,401
$MISSION,20
$DIVE,7
$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,14
$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
$GPS1,280417,194040,5714.7715,-16543.2754,2,1.0,12,10.7,0.8,295.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-49.1
$GPS2,280417,194421,5714.7695,-16543.2617,6,1.0,16,10.7,0.0,42.6,9,4.6
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.245428,-0.097184
$KALMAN_X,516.420593,188.711563,148.519135,1286.359619,70.095673
$KALMAN_Y,521.255127,348.076050,295.500244,-803.667969,10.814636
$MHEAD_RNG_PITCHd_Wd,100.9,94427,-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,-195.5,231,1991,1822,4094,0.0,0.0,0,37,0.00,0.00,-5.15,0.000,16390,0.000,0.000,231,1991,2408,2408,4094,0,0,0,0,0,0,26.13,25.21,26.14,9.96,34.99
$GC,39,-1.98,-195.5,231,1991,2409,4095,1.2,0.0,1,72,19.88,3.50,0.00,0.000,2308,0.430,0.253,1767,3192,2410,2410,4094,0,0,0,0,0,0,25.32,25.30,25.40,10.08,35.15
$GC,284,-1.98,-195.5,1767,3191,2417,4094,43.6,-14.3,20,298,0.00,3.17,0.00,0.000,1030,0.000,0.124,1767,1993,2417,2417,4094,0,0,0,0,0,0,25.82,25.77,25.86,10.07,35.19
$GC,362,-1.98,-195.5,1767,1993,2419,4094,54.4,-13.5,26,380,0.00,3.45,0.00,0.000,260,0.000,0.261,1767,3190,2420,2420,4094,0,0,0,0,0,0,26.18,25.66,26.19,10.08,34.83
$STATE,395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,395,begin apogee
$GC,402,-0.45,0.0,1767,1997,2420,4094,59.1,-13.7,28,432,5.68,0.00,13.30,3.998,10244,0.273,0.000,2256,1997,2178,2178,4094,0,0,0,0,0,0,25.79,24.98,24.15,10.08,34.28
$STATE,433,end apogee,CONTROL_FINISHED_OK
$STATE,433,begin climb
$GC,434,1.98,195.5,2255,1997,2178,4094,63.1,0.0,30,468,8.45,3.42,12.93,3.933,10756,0.164,0.283,3024,803,1946,1946,4094,0,0,0,0,0,0,25.51,25.40,23.93,10.02,34.52
$GC,659,1.98,195.5,3023,803,1940,4094,36.7,14.7,48,677,0.00,3.12,0.00,0.000,1030,0.000,0.134,3024,1996,1939,1939,4094,0,0,0,0,0,0,25.75,25.68,25.77,9.97,34.28
$GC,741,1.98,195.5,3023,1995,1938,4094,25.7,12.9,54,759,0.00,3.38,0.00,0.000,260,0.000,0.243,3024,3184,1937,1937,4094,0,0,0,0,0,0,26.10,25.62,26.11,9.97,34.17
$GC,845,1.98,195.5,3023,3184,1934,4094,11.1,14.8,62,860,0.00,3.00,0.00,0.000,1030,0.000,0.127,3024,2052,1934,1934,4094,0,0,0,0,0,0,25.88,25.84,25.92,9.97,34.52
$STATE,922,end climb,SURFACE_DEPTH_REACHED
$STATE,922,begin surface coast
$FINISH,0.1,1.024995
$STATE,950,end surface coast,CONTROL_FINISHED_OK
$STATE,950,begin surface
$SM_CCo,986,6.70,1.823,0,0,1822,300.51
$SM_GC,2.18,29.70,0.12,6.70,0.109,0.295,1.823,242,1983,1822,-6.77,1.05,300.51,0,0,0,0,0,0,25.93,25.97,24.89
$IRIDIUM_FIX,5554.28,-15931.18,280417,192030
$TT8_MAMPS,0.026215,0.244174
$HUMID,34.36
$INTERNAL_PRESSURE,9.88675
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,36.3,9.4
$24V_AH,23.93,6.146
$10V_AH,8.96,7.234
$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,63.700,26.350,26.225,6.700,0.000,36.433,16.591,96.892,0.750,0.000,17.217,258.471,0.000,110.480,850.007,23.158,33.437,300.636,0.000,685.766,0.000,10.298,0.000
$DEVICE_MAMPS,429.559,295.477,3997.630,1822.522,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.608,90.055,150.556,382.104,659.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344616
$DATA_FILE_SIZE,7434,70
$CAP_FILE_SIZE,22301,7
$CFSIZE,1024409600,1018167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280417,200241,5714.687,-16543.174,2,0.9,13,10.7,0.0,0.0,9,4.5