version: 66.12
glider: 401
mission: 20
dive: 21
start: 4 29 117 0 36 2
data:
$ID,401
$MISSION,20
$DIVE,21
$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,35
$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
$GPS1,290417,001834,5713.7642,-16544.9434,5,0.7,16,10.7,0.0,63.2,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.0
$GPS2,290417,001834,5713.7642,-16544.9434,5,0.7,16,10.7,0.0,63.2,11,4.6
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.261848,0.033401
$KALMAN_X,-2945.194580,-688.476929,-535.296509,4622.627441,-262.542480
$KALMAN_Y,-1074.953735,-98.646996,-265.669312,-63.211788,-41.247849
$MHEAD_RNG_PITCHd_Wd,72.0,95586,-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,-195.5,2420,2038,2178,4094,0.0,0.0,0,20,0.00,0.00,-2.22,0.000,16390,0.000,0.000,2421,2038,2407,2407,4094,0,0,0,0,0,0,26.11,24.54,26.08,10.04,34.80
$GC,21,-1.98,-195.5,2420,2038,2407,4094,0.0,0.0,0,36,6.90,0.00,0.00,0.000,4102,0.166,0.000,1789,2038,2407,2407,4094,0,0,0,0,0,0,25.80,25.87,25.84,10.09,35.03
$GC,98,-1.98,-195.5,1788,2038,2408,4094,4.7,-8.7,6,113,0.00,3.35,0.00,0.000,260,0.000,0.268,1789,3201,2408,2408,4094,0,0,0,0,0,0,26.16,25.66,26.17,10.09,35.74
$GC,186,-1.98,-195.5,1788,3201,2411,4094,16.8,-13.9,13,201,0.00,3.00,0.00,0.000,1030,0.000,0.127,1789,2061,2410,2410,4094,0,0,0,0,0,0,25.94,25.89,25.97,10.08,35.62
$GC,264,-1.98,-195.5,1788,2061,2413,4094,27.6,-13.9,19,279,0.00,3.45,0.00,0.000,516,0.000,0.263,1788,829,2413,2413,4094,0,0,0,0,0,0,26.27,25.82,26.28,10.07,34.56
$GC,364,-1.98,-195.5,1788,829,2415,4094,42.0,-15.2,27,379,0.00,3.10,0.00,0.000,1030,0.000,0.139,1788,2022,2415,2415,4094,0,0,0,0,0,0,26.03,25.98,26.07,10.07,34.64
$GC,448,-1.98,-195.5,1788,2022,2417,4094,53.3,-13.3,33,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2022,2418,2418,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.07,34.28
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,479,-0.45,0.0,1788,2022,2418,4094,57.3,-13.8,35,512,5.40,0.00,13.30,3.950,10244,0.276,0.000,2256,2022,2175,2175,4094,0,0,0,0,0,0,25.97,25.14,24.34,10.07,33.89
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,514,1.98,195.5,2256,2022,2175,4094,60.1,0.0,37,547,8.30,0.00,12.65,3.898,11270,0.142,0.000,3023,2022,1946,1946,4094,0,0,0,0,0,0,25.74,25.97,24.10,10.02,34.13
$GC,609,1.98,195.5,3022,2024,1944,4094,51.3,12.4,44,626,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2024,1943,1943,4094,0,0,0,0,0,0,25.89,25.90,25.90,9.97,33.54
$GC,689,1.98,195.5,3022,2023,1942,4094,41.0,12.8,50,703,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2024,1941,1941,4095,0,0,0,0,0,0,26.01,26.03,26.02,9.97,33.85
$GC,765,1.98,195.5,3023,2024,1940,4094,30.8,13.6,56,779,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2025,1939,1939,4094,0,0,0,0,0,0,26.09,26.10,26.10,9.96,34.44
$GC,842,1.98,195.5,3022,2025,1938,4095,21.2,12.5,62,860,0.00,3.38,0.00,0.000,516,0.000,0.263,3023,834,1937,1937,4094,0,0,0,0,0,0,26.15,25.72,26.17,9.97,33.81
$GC,947,1.98,195.5,3022,834,1934,4094,6.9,14.0,70,961,0.00,3.03,0.00,0.000,1030,0.000,0.127,3023,2007,1934,1934,4094,0,0,0,0,0,0,25.96,25.92,25.98,9.97,34.17
$STATE,988,end climb,SURFACE_DEPTH_REACHED
$STATE,988,begin surface coast
$FINISH,0.1,1.011295
$STATE,1016,end surface coast,CONTROL_FINISHED_OK
$STATE,1016,begin surface
$SM_CCo,1051,6.72,1.830,0,0,1822,300.51
$SM_GC,1.93,29.58,0.00,6.72,0.109,0.000,1.830,241,2011,1822,-6.78,-0.68,300.51,0,0,0,0,0,0,25.89,26.28,24.91
$IRIDIUM_FIX,5554.28,-16557.83,280417,233209
$TT8_MAMPS,0.026215,0.260652
$HUMID,34.28
$INTERNAL_PRESSURE,9.89652
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,46.1,6.8
$24V_AH,24.10,6.710
$10V_AH,8.91,7.608
$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,50.175,19.300,25.950,6.725,0.000,0.000,0.000,0.000,0.500,0.000,0.000,270.495,0.000,110.721,713.194,17.702,33.422,329.193,0.000,726.098,0.000,5.440,0.000
$DEVICE_MAMPS,275.613,268.164,3950.453,1829.971,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.738,96.391,161.323,404.170,701.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344780
$DATA_FILE_SIZE,7440,75
$CAP_FILE_SIZE,20336,4
$CFSIZE,1024409600,1017479168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,005450,5713.798,-16545.457,2,0.7,35,10.7,3.0,323.6,11,4.8