version: 66.12
glider: 401
mission: 20
dive: 18
start: 4 28 117 23 36 43
data:
$ID,401
$MISSION,20
$DIVE,18
$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,25
$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,45
$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
$GPS1,280417,232933,5713.8115,-16544.1172,2,0.8,28,10.7,0.0,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-49.2
$GPS2,280417,233543,5713.7876,-16544.2422,5,0.9,15,10.7,0.0,0.0,9,4.4
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.237279,0.115667
$KALMAN_X,-2022.310059,-410.323730,-285.510101,3890.455566,-267.807190
$KALMAN_Y,-904.689941,7.170387,-209.391129,-349.412994,-121.941460
$MHEAD_RNG_PITCHd_Wd,53.3,94912,-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,-195.5,242,2022,1822,4095,0.0,0.0,0,37,0.00,0.00,-5.20,0.000,16390,0.000,0.000,242,2022,2406,2406,4094,0,0,0,0,0,0,26.08,25.18,26.09,9.96,35.35
$GC,39,-1.98,-195.5,242,2022,2406,4094,1.1,0.0,1,72,19.90,3.47,0.00,0.000,2308,0.435,0.266,1762,3211,2407,2407,4094,0,0,0,0,0,0,25.27,25.27,25.38,10.08,35.70
$GC,146,-1.98,-195.5,1761,3211,2410,4095,23.0,-15.3,9,161,0.00,3.17,0.00,0.000,1030,0.000,0.129,1762,2026,2410,2410,4094,0,0,0,0,0,0,25.63,25.58,25.66,10.08,34.91
$GC,224,-1.98,-195.5,1761,2026,2412,4094,34.1,-13.8,15,242,0.00,3.40,0.00,0.000,516,0.000,0.268,1762,830,2413,2413,4094,0,0,0,0,0,0,26.01,25.56,26.02,10.07,34.52
$GC,322,-1.98,-195.5,1761,830,2415,4094,48.9,-15.8,22,337,0.00,3.03,0.00,0.000,1030,0.000,0.139,1762,1986,2415,2415,4094,0,0,0,0,0,0,25.82,25.77,25.86,10.07,34.28
$STATE,375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,375,begin apogee
$GC,379,-0.45,0.0,1762,2043,2417,4094,56.3,-13.5,26,412,5.70,0.00,13.02,3.945,10244,0.276,0.000,2252,2043,2178,2178,4094,0,0,0,0,0,0,25.77,24.93,24.12,10.07,34.28
$STATE,413,end apogee,CONTROL_FINISHED_OK
$STATE,414,begin climb
$GC,415,1.98,195.5,2252,2043,2178,4094,60.0,0.0,28,451,8.43,0.00,12.77,3.913,11270,0.142,0.000,3026,2043,1947,1947,4094,0,0,0,0,0,0,25.56,25.78,23.93,10.03,33.93
$GC,514,1.98,195.5,3025,2043,1945,4094,52.2,12.4,35,532,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2043,1945,1945,4094,0,0,0,0,0,0,25.77,25.79,25.79,9.97,34.05
$GC,595,1.98,195.5,3026,2043,1943,4094,40.8,14.0,41,612,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2043,1943,1943,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.97,33.73
$GC,674,1.98,195.5,3026,2043,1941,4094,30.4,13.2,47,688,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2043,1940,1940,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.96,33.73
$GC,750,1.98,195.5,3026,2043,1939,4094,20.9,12.5,53,768,0.00,3.45,0.00,0.000,516,0.000,0.263,3026,825,1938,1938,4094,0,0,1,0,0,0,26.10,25.65,26.11,9.96,34.20
$GC,831,1.98,195.5,3026,825,1936,4094,10.0,13.5,59,846,0.00,3.12,0.00,0.000,1030,0.000,0.132,3026,2028,1937,1937,4095,0,0,0,0,0,0,25.89,25.84,25.92,9.97,34.13
$STATE,895,end climb,FINISH_DEPTH_REACHED
$STATE,896,begin subsurface finish
$FINISH1,2.0,1.025027,0
$GC,900,0.00,0.0,3026,2028,1935,4094,2.0,12.0,64,915,6.68,0.00,-2.30,0.000,20486,0.194,0.000,2420,2030,2179,2179,4094,0,0,0,0,0,0,25.91,25.35,25.95,9.98,34.44
$FINISH2,0.1
$STATE,916,end subsurface finish,CONTROL_FINISHED_OK
$STATE,916,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,280417,225042
$TT8_MAMPS,0.026215,0.261401
$HUMID,34.13
$INTERNAL_PRESSURE,9.96488
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,46.5,6.9
$24V_AH,23.93,6.593
$10V_AH,8.95,7.528
$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,40.700,19.750,25.800,0.000,0.000,57.913,21.403,154.585,0.500,0.000,17.270,241.290,59.874,92.184,890.331,27.462,33.444,320.301,0.000,638.572,0.000,7.320,0.000
$DEVICE_MAMPS,434.525,340.171,3945.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.511,83.411,139.826,356.036,613.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344556
$DATA_FILE_SIZE,7383,65
$CAP_FILE_SIZE,23139,9
$CFSIZE,1024409600,1017626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280417,233543,5713.788,-16544.242,5,0.9,15,10.7,0.0,0.0,9,4.4