version: 66.12
glider: 401
mission: 20
dive: 9
start: 4 28 117 20 24 3
data:
$ID,401
$MISSION,20
$DIVE,9
$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,3
$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,2
$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,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,21
$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
$GPS1,280417,200609,5714.6816,-16543.1680,5,0.9,15,10.7,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,0.2
$GPS2,280417,200609,5714.6816,-16543.1680,5,0.9,15,10.7,0.0,0.0,10,4.7
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.263315,-0.018594
$KALMAN_X,234.607590,115.233307,110.515198,1778.501587,-102.013855
$KALMAN_Y,498.938232,378.576752,274.375610,-957.206909,-30.864792
$MHEAD_RNG_PITCHd_Wd,83.3,94293,-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,-195.5,2420,2018,2181,4094,0.0,0.0,0,20,0.00,0.00,-2.20,0.000,16390,0.000,0.000,2422,2018,2407,2407,4094,0,0,0,0,0,0,26.15,24.53,26.13,10.04,34.76
$GC,21,-1.98,-195.5,2421,2018,2408,4094,0.0,0.0,0,39,7.00,0.00,0.00,0.000,4102,0.189,0.000,1787,2018,2408,2408,4094,0,0,0,0,0,0,25.83,25.90,25.87,10.08,34.56
$GC,103,-1.98,-195.5,1786,2018,2409,4094,5.7,-9.5,6,117,0.00,3.42,0.00,0.000,260,0.000,0.266,1786,3210,2409,2409,4094,0,0,0,0,0,0,26.20,25.71,26.22,10.08,34.83
$GC,145,-1.98,-195.5,1786,3210,2410,4094,11.3,-12.5,9,160,0.00,3.17,0.00,0.000,1030,0.000,0.132,1787,2011,2411,2411,4095,0,0,0,0,0,0,25.93,25.89,25.96,10.07,34.91
$GC,223,-1.98,-195.5,1786,2011,2412,4094,22.2,-13.9,15,238,0.00,3.33,0.00,0.000,516,0.000,0.271,1787,830,2413,2413,4094,0,0,0,0,0,0,26.28,25.82,26.29,10.06,35.19
$GC,253,-1.98,-195.5,1786,830,2413,4094,26.5,-14.1,17,268,0.00,3.05,0.00,0.000,1030,0.000,0.146,1787,1996,2414,2414,4094,0,0,0,0,0,0,25.98,25.93,26.02,10.07,34.68
$GC,336,-1.98,-195.5,1786,1995,2415,4094,38.0,-13.4,23,351,0.00,3.47,0.00,0.000,260,0.000,0.271,1786,3214,2415,2415,4094,0,0,0,0,0,0,26.33,25.79,26.34,10.07,34.05
$GC,378,-1.98,-195.5,1786,3213,2416,4094,43.7,-13.5,26,396,0.00,3.22,0.00,0.000,1030,0.000,0.139,1786,1996,2417,2417,4094,0,0,0,0,0,0,26.03,25.97,26.07,10.06,35.07
$GC,460,-1.98,-195.5,1786,1996,2418,4095,54.5,-12.6,32,479,0.00,3.28,0.00,0.000,516,0.000,0.273,1786,829,2419,2419,4094,0,0,0,0,0,0,26.38,25.87,26.39,10.06,34.01
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,500,-0.45,0.0,1786,2031,2419,4094,59.1,-13.3,34,531,5.35,0.00,13.45,4.015,10244,0.286,0.000,2248,2032,2174,2174,4094,0,0,0,0,0,0,25.96,25.14,24.33,10.07,34.32
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,533,1.98,195.5,2248,2031,2174,4094,63.1,0.0,36,567,8.38,3.40,12.65,3.953,10500,0.154,0.273,3029,3215,1946,1946,4094,0,0,0,0,0,0,25.67,25.57,24.10,10.02,34.01
$GC,607,1.99,200.5,3029,3215,1946,4094,57.9,10.0,41,622,0.00,3.20,0.50,0.007,9222,0.000,0.129,3029,2024,1945,1945,4094,0,0,0,0,0,0,25.58,25.55,25.61,9.97,33.89
$GC,685,1.99,200.5,3029,2025,1943,4094,47.5,13.1,47,704,0.00,3.42,0.00,0.000,516,0.000,0.281,3029,825,1943,1943,4094,0,0,0,0,0,0,25.98,25.56,26.00,9.96,34.28
$GC,755,1.99,200.5,3029,825,1941,4094,37.3,14.8,52,770,0.00,3.10,0.00,0.000,1030,0.000,0.134,3029,2012,1941,1941,4094,0,0,0,0,0,0,25.81,25.75,25.82,9.96,34.48
$GC,832,1.99,200.5,3029,2012,1939,4094,27.0,12.7,58,846,0.00,3.40,0.00,0.000,260,0.000,0.248,3029,3209,1939,1939,4094,0,0,0,0,0,0,26.14,25.66,26.15,9.96,34.13
$GC,909,1.99,200.5,3029,3210,1937,4094,16.2,14.5,64,924,0.00,3.08,0.00,0.000,1030,0.000,0.127,3029,2049,1936,1936,4094,0,0,0,0,0,0,25.90,25.84,25.94,9.96,34.87
$GC,986,1.99,200.5,3029,2049,1934,4094,6.2,12.7,70,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2049,1934,1934,4095,0,0,0,0,0,0,26.25,26.27,26.26,9.96,34.36
$STATE,1026,end climb,SURFACE_DEPTH_REACHED
$STATE,1026,begin surface coast
$FINISH,0.1,1.024978
$STATE,1052,end surface coast,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$SM_CCo,1089,6.70,1.842,0,0,1822,300.51
$SM_GC,2.25,29.73,0.05,6.70,0.119,0.467,1.842,241,2019,1822,-6.78,0.87,300.51,0,0,0,0,0,0,25.95,26.10,24.90
$IRIDIUM_FIX,5744.64,-16600.79,280417,194143
$TT8_MAMPS,0.026964,0.247919
$HUMID,34.87
$INTERNAL_PRESSURE,9.88675
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,31.0,8.8
$24V_AH,24.10,6.223
$10V_AH,8.96,7.287
$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,50.450,45.750,26.600,6.700,0.000,0.000,0.000,0.000,0.500,0.000,0.000,282.954,0.000,128.753,718.804,19.052,33.422,380.765,0.000,731.158,0.000,5.445,0.000
$DEVICE_MAMPS,285.545,466.804,4015.011,1842.386,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.420,96.260,161.297,410.923,706.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344772
$DATA_FILE_SIZE,7352,75
$CAP_FILE_SIZE,24844,7
$CFSIZE,1024409600,1018068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280417,204331,5714.462,-16542.746,3,1.0,38,10.7,0.0,0.0,9,4.6