version: 66.12
glider: 401
mission: 20
dive: 11
start: 4 28 117 21 5 49
data:
$ID,401
$MISSION,20
$DIVE,11
$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,10
$R_STBD_OVSHOOT,23
$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
$GPS1,280417,204807,5714.4448,-16542.7598,5,0.9,16,10.7,0.0,295.1,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-0.9
$GPS2,280417,204807,5714.4448,-16542.7598,5,0.9,16,10.7,0.0,295.1,9,4.5
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.261856,0.033330
$KALMAN_X,211.371780,39.496918,64.893341,2331.218018,-10.126274
$KALMAN_Y,169.817825,353.583618,191.396271,-958.458984,-111.188385
$MHEAD_RNG_PITCHd_Wd,72.0,93779,-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,-195.5,2421,2025,2178,4094,0.0,0.0,0,36,0.00,0.00,-2.22,0.000,16390,0.000,0.000,2421,2026,2408,2408,4094,0,0,0,0,0,0,26.14,24.53,26.11,10.03,34.76
$GC,37,-1.98,-195.5,2420,2026,2408,4094,0.1,0.0,1,55,7.03,0.00,0.00,0.000,4102,0.159,0.000,1783,2026,2408,2408,4094,0,0,0,0,0,0,25.47,25.52,25.51,10.08,34.80
$GC,119,-1.98,-195.5,1782,2026,2409,4095,7.3,-9.8,7,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2026,2410,2410,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.07,34.91
$GC,199,-1.98,-195.5,1782,2025,2411,4095,18.2,-13.9,13,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2026,2412,2412,4094,0,0,0,0,0,0,26.02,26.04,26.03,10.07,35.03
$GC,282,-1.98,-195.5,1782,2026,2414,4095,29.7,-14.1,19,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2026,2414,2414,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.06,34.80
$GC,373,-1.98,-195.5,1782,2026,2416,4094,42.3,-13.3,25,387,0.00,3.40,0.00,0.000,516,0.000,0.268,1783,822,2417,2417,4094,0,0,0,0,0,0,26.18,25.73,26.20,10.07,34.17
$GC,451,-1.98,-195.5,1782,822,2418,4094,53.6,-15.0,31,465,0.00,3.08,0.00,0.000,1030,0.000,0.144,1783,1999,2419,2419,4094,0,0,0,0,0,0,25.92,25.91,25.97,10.06,33.97
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,483,-0.45,0.0,1782,1999,2419,4095,58.0,-14.8,33,515,5.50,0.00,13.43,3.941,10244,0.276,0.000,2257,1999,2175,2175,4094,0,0,0,0,0,0,25.86,25.06,24.29,10.06,33.77
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,517,1.98,195.5,2256,1999,2175,4094,60.8,0.0,35,554,8.40,0.00,12.57,3.871,11270,0.149,0.000,3025,1999,1946,1946,4094,0,0,0,0,0,0,25.65,25.86,24.04,10.02,33.97
$GC,616,1.98,195.5,3024,1999,1945,4094,52.7,12.5,42,630,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1999,1944,1944,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.97,33.73
$GC,693,1.98,195.5,3024,1999,1942,4094,41.8,14.3,48,710,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1999,1942,1942,4094,0,0,0,0,0,0,25.96,25.98,25.97,9.96,34.24
$GC,773,1.98,195.5,3024,1999,1940,4094,30.9,13.5,54,788,0.00,3.35,0.00,0.000,516,0.000,0.268,3025,822,1940,1940,4094,0,0,1,0,0,0,26.06,25.63,26.07,9.96,34.28
$GC,804,1.98,195.5,3024,823,1939,4094,27.0,13.2,56,819,0.00,3.12,0.00,0.000,1030,0.000,0.134,3025,2021,1939,1939,4094,0,0,0,0,0,0,25.82,25.78,25.84,9.96,33.77
$GC,881,1.98,195.5,3024,2021,1937,4094,18.0,11.7,62,899,0.00,3.40,0.00,0.000,260,0.000,0.251,3025,3217,1937,1937,4094,0,0,0,0,0,0,26.15,25.68,26.16,9.96,34.32
$GC,928,1.98,195.5,3024,3217,1936,4094,11.6,13.4,65,942,0.00,3.17,0.00,0.000,1030,0.000,0.129,3025,2019,1936,1936,4094,0,0,0,0,0,0,25.90,25.82,25.92,9.96,34.05
$STATE,1004,end climb,SURFACE_DEPTH_REACHED
$STATE,1005,begin surface coast
$FINISH,0.1,1.001787
$STATE,1031,end surface coast,CONTROL_FINISHED_OK
$STATE,1031,begin surface
$SM_CCo,1067,6.78,1.837,0,0,1822,300.51
$SM_GC,2.30,29.73,0.00,6.78,0.117,0.000,1.837,241,2019,1822,-6.78,-0.27,300.51,0,0,0,0,0,0,25.94,26.27,24.89
$IRIDIUM_FIX,5744.64,-16600.79,280417,200339
$TT8_MAMPS,0.026215,0.242676
$HUMID,34.32
$INTERNAL_PRESSURE,9.88675
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,40.2,7.1
$24V_AH,24.04,6.302
$10V_AH,8.94,7.341
$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,50.650,19.525,26.000,6.775,0.000,0.000,0.000,0.000,1.500,0.000,0.000,266.949,0.000,133.301,708.743,18.814,33.408,377.998,0.000,716.190,0.000,14.028,0.000
$DEVICE_MAMPS,275.613,268.164,3940.521,1837.420,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.132,93.721,156.992,404.462,692.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344824
$DATA_FILE_SIZE,7380,73
$CAP_FILE_SIZE,21649,9
$CFSIZE,1024409600,1017970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280417,212430,5714.253,-16542.574,2,0.8,13,10.7,0.0,0.0,10,4.7