version: 66.12
glider: 401
mission: 20
dive: 13
start: 4 28 117 21 47 0
data:
$ID,401
$MISSION,20
$DIVE,13
$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,19
$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
$GPS1,280417,212902,5714.2314,-16542.6074,6,0.7,15,10.7,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,0.4
$GPS2,280417,212902,5714.2314,-16542.6074,6,0.7,15,10.7,0.0,0.0,11,4.8
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.255875,0.064867
$KALMAN_X,-89.388916,-10.256218,70.464439,2828.669189,-103.390999
$KALMAN_Y,-142.025482,278.335938,73.004478,-848.066406,-117.068787
$MHEAD_RNG_PITCHd_Wd,65.1,93528,-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,-195.5,2419,2021,2177,4094,0.0,0.0,0,20,0.00,0.00,-2.22,0.000,16390,0.000,0.000,2419,2021,2406,2406,4094,0,0,0,0,0,0,26.19,24.56,26.17,10.02,34.56
$GC,21,-1.98,-195.5,2419,2021,2407,4095,0.0,0.0,0,36,6.78,3.33,0.00,0.000,4612,0.166,0.268,1798,829,2407,2407,4094,0,0,0,0,0,0,25.89,25.74,25.93,10.09,34.64
$GC,240,-1.98,-195.5,1797,829,2412,4094,26.7,-15.2,18,255,0.00,3.10,0.00,0.000,1030,0.000,0.142,1798,2020,2412,2412,4095,0,0,0,0,0,0,26.03,25.98,26.06,10.07,34.68
$GC,323,-1.98,-195.5,1797,2020,2413,4094,37.0,-12.3,24,341,0.00,3.35,0.00,0.000,516,0.000,0.261,1797,831,2414,2414,4094,0,0,0,0,0,0,26.35,25.88,26.36,10.06,34.87
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,458,-0.45,0.0,1797,2028,2417,4094,55.5,-14.5,34,489,5.30,0.00,13.20,3.906,10244,0.283,0.000,2255,2028,2176,2176,4094,0,0,0,0,0,0,25.99,25.18,24.37,10.06,34.60
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,491,1.98,195.5,2254,2028,2176,4094,59.2,0.0,36,521,8.32,3.38,12.73,3.869,10500,0.154,0.261,3027,3211,1946,1946,4094,0,0,0,0,0,0,25.71,25.60,24.13,10.02,34.28
$GC,619,1.98,195.5,3027,3211,1942,4094,46.1,15.3,46,637,0.00,3.15,0.00,0.000,1030,0.000,0.124,3027,2031,1942,1942,4094,0,0,0,0,0,0,25.70,25.64,25.72,9.97,34.56
$GC,701,1.98,195.5,3026,2031,1940,4094,34.4,13.8,52,719,0.00,3.42,0.00,0.000,516,0.000,0.276,3027,827,1940,1940,4094,0,0,0,0,0,0,26.07,25.64,26.08,9.96,34.09
$GC,760,1.98,195.5,3026,827,1938,4094,26.5,13.8,56,778,0.00,3.08,0.00,0.000,1030,0.000,0.134,3027,2010,1938,1938,4094,0,0,0,0,0,0,25.86,25.82,25.89,9.96,34.40
$GC,841,1.98,195.5,3027,2010,1937,4094,16.7,12.1,62,856,0.00,3.40,0.00,0.000,260,0.000,0.248,3027,3209,1936,1936,4094,0,0,0,0,0,0,26.19,25.72,26.20,9.96,34.64
$GC,883,1.98,195.5,3027,3209,1935,4094,11.1,13.1,65,901,0.00,3.17,0.00,0.000,1030,0.000,0.129,3027,2009,1935,1935,4094,0,0,0,0,0,0,25.91,25.88,25.94,9.96,34.68
$STATE,952,end climb,SURFACE_DEPTH_REACHED
$STATE,952,begin surface coast
$FINISH,0.1,1.001075
$STATE,979,end surface coast,CONTROL_FINISHED_OK
$STATE,979,begin surface
$SM_CCo,1014,6.70,1.835,0,0,1822,300.51
$SM_GC,2.30,29.62,0.00,6.70,0.114,0.000,1.835,242,2009,1822,-6.77,-0.73,300.51,0,0,0,0,0,0,25.95,26.29,24.90
$IRIDIUM_FIX,5744.64,-16600.79,280417,204426
$TT8_MAMPS,0.026215,0.248668
$HUMID,34.68
$INTERNAL_PRESSURE,9.88675
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,30.6,8.8
$24V_AH,24.13,6.385
$10V_AH,8.94,7.393
$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,50.025,35.675,25.925,6.700,0.000,0.000,0.000,0.000,0.500,0.000,0.000,261.896,0.000,108.831,691.339,16.481,33.404,298.305,0.000,705.083,0.000,5.445,0.000
$DEVICE_MAMPS,283.062,275.613,3905.759,1834.937,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.933,92.628,154.850,394.469,680.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344760
$DATA_FILE_SIZE,7353,72
$CAP_FILE_SIZE,19370,7
$CFSIZE,1024409600,1017872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280417,220450,5714.063,-16542.881,3,0.7,15,10.7,0.0,0.0,11,4.3