version: 66.12
glider: 401
mission: 20
dive: 17
start: 4 28 117 23 11 36
data:
$ID,401
$MISSION,20
$DIVE,17
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,280417,225419,5713.8887,-16543.4453,5,0.8,16,10.7,0.0,0.0,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,0.0
$GPS2,280417,225419,5713.8887,-16543.4453,5,0.8,16,10.7,0.0,0.0,10,4.8
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.250474,0.083322
$KALMAN_X,-1340.610718,-270.165649,-149.812561,3716.271240,-215.614288
$KALMAN_Y,-734.145813,50.370636,-168.437592,-419.885864,-104.387482
$MHEAD_RNG_PITCHd_Wd,60.9,94181,-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,-195.5,2423,2038,2182,4094,0.0,0.0,0,19,0.00,0.00,-2.17,0.000,16390,0.000,0.000,2423,2039,2406,2406,4094,0,0,0,0,0,0,26.18,24.55,26.16,10.03,34.64
$GC,21,-1.98,-195.5,2423,2038,2406,4094,0.0,0.0,0,36,6.82,3.40,0.00,0.000,4612,0.166,0.256,1797,822,2406,2406,4095,0,0,0,0,0,0,25.89,25.74,25.93,10.09,34.76
$GC,205,-1.98,-195.5,1796,822,2411,4094,21.5,-15.6,15,223,0.00,3.12,0.00,0.000,1030,0.000,0.139,1797,2023,2411,2411,4094,0,0,0,0,0,0,26.00,25.95,26.04,10.07,35.39
$GC,293,-1.98,-195.5,1796,2023,2413,4095,33.1,-12.5,21,311,0.00,3.38,0.00,0.000,516,0.000,0.261,1797,826,2413,2413,4094,0,0,0,0,0,0,26.33,25.86,26.34,10.06,34.91
$STATE,455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,455,begin apogee
$GC,461,-0.45,0.0,1797,2024,2418,4094,55.8,-13.7,34,490,5.30,0.00,13.27,3.945,10244,0.278,0.000,2255,2024,2175,2175,4094,0,0,0,0,0,0,26.00,25.15,24.35,10.06,34.17
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,492,1.98,195.5,2255,2024,2175,4095,60.3,0.0,36,526,8.27,3.42,12.70,3.861,10500,0.151,0.266,3029,3220,1945,1945,4094,0,0,0,0,0,0,25.69,25.58,24.13,10.02,34.01
$GC,636,1.98,195.5,3029,3220,1941,4094,42.7,16.2,47,655,0.00,3.17,0.00,0.000,1030,0.000,0.122,3029,2026,1941,1941,4094,0,0,0,0,0,0,25.71,25.65,25.74,9.96,34.24
$GC,717,1.98,195.5,3029,2026,1939,4094,30.9,13.9,53,735,0.00,3.40,0.00,0.000,516,0.000,0.266,3029,826,1938,1938,4094,0,0,0,0,0,0,26.08,25.63,26.08,9.96,34.09
$GC,798,1.98,195.5,3029,826,1936,4094,20.2,13.0,59,813,0.00,3.10,0.00,0.000,1030,0.000,0.134,3029,2019,1936,1936,4094,0,0,0,0,0,0,25.86,25.83,25.89,9.96,34.95
$GC,876,1.98,195.5,3028,2019,1934,4094,9.9,13.0,65,894,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2019,1934,1934,4094,0,0,0,0,0,0,26.20,26.22,26.22,9.96,34.64
$STATE,944,end climb,SURFACE_DEPTH_REACHED
$STATE,944,begin surface coast
$FINISH,0.1,1.003150
$STATE,972,end surface coast,CONTROL_FINISHED_OK
$STATE,972,begin surface
$SM_CCo,1007,6.68,1.852,0,0,1822,300.51
$SM_GC,2.23,29.67,0.00,6.68,0.112,0.000,1.852,242,2018,1822,-6.77,-0.27,300.51,0,0,0,0,0,0,25.94,26.28,24.90
$IRIDIUM_FIX,5554.28,-16557.83,280417,220544
$TT8_MAMPS,0.026215,0.244174
$HUMID,34.91
$INTERNAL_PRESSURE,9.88675
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,31.1,7.1
$24V_AH,24.13,6.548
$10V_AH,8.95,7.500
$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,50.075,26.125,25.975,6.675,0.000,0.000,0.000,0.000,0.500,0.000,0.000,257.802,0.000,104.191,690.049,16.122,33.416,282.306,0.000,703.855,0.000,5.439,0.000
$DEVICE_MAMPS,278.096,265.681,3945.487,1852.318,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.075,92.667,154.855,392.507,679.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344728
$DATA_FILE_SIZE,7421,72
$CAP_FILE_SIZE,17862,6
$CFSIZE,1024409600,1017675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280417,232933,5713.812,-16544.117,2,0.8,28,10.7,0.0,0.0,10,5.0