version: 66.12
glider: 401
mission: 20
dive: 25
start: 4 29 117 1 57 55
data:
$ID,401
$MISSION,20
$DIVE,25
$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,38
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,290417,014033,5713.8779,-16546.0645,5,0.8,15,10.7,0.0,142.8,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.0
$GPS2,290417,014033,5713.8779,-16546.0645,5,0.8,15,10.7,0.0,142.8,10,4.7
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.258183,-0.054969
$KALMAN_X,-4344.554199,-1112.016968,-833.258484,5621.086914,-233.255554
$KALMAN_Y,-942.506897,-94.163078,-195.142136,-60.458225,47.757072
$MHEAD_RNG_PITCHd_Wd,91.3,96734,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.98,-195.5,2421,2020,2182,4094,0.0,0.0,0,35,0.00,0.00,-2.17,0.000,16390,0.000,0.000,2421,2020,2406,2406,4094,0,0,0,0,0,0,26.15,24.57,26.13,10.04,34.76
$GC,37,-1.98,-195.5,2421,2021,2407,4094,0.1,0.0,1,52,7.00,3.47,0.00,0.000,4356,0.154,0.261,1785,3217,2406,2406,4094,0,0,0,0,0,0,25.45,25.33,25.51,10.09,34.99
$GC,91,-1.98,-195.5,1785,3218,2406,4094,1.3,-1.6,5,106,0.00,3.17,0.00,0.000,1030,0.000,0.122,1785,2026,2407,2407,4094,0,0,0,0,0,0,25.60,25.56,25.64,10.09,35.50
$GC,169,-1.98,-195.5,1784,2026,2409,4094,10.5,-13.2,11,187,0.00,3.38,0.00,0.000,516,0.000,0.258,1785,830,2409,2409,4094,0,0,0,0,0,0,25.98,25.58,25.99,10.08,35.50
$GC,215,-1.98,-195.5,1784,830,2410,4094,17.2,-14.6,14,229,0.00,3.10,0.00,0.000,1030,0.000,0.139,1785,2008,2410,2410,4095,0,0,0,0,0,0,25.76,25.71,25.78,10.08,34.48
$GC,292,-1.98,-195.5,1785,2008,2412,4094,28.2,-13.8,20,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2008,2412,2412,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.07,34.99
$GC,373,-1.98,-195.5,1784,2008,2414,4094,38.4,-12.5,26,388,0.00,3.30,0.00,0.000,516,0.000,0.246,1785,826,2414,2414,4094,0,0,1,0,0,0,26.17,25.74,26.17,10.07,34.05
$GC,444,-1.98,-195.5,1785,826,2416,4094,48.6,-14.5,31,459,0.00,3.00,0.00,0.000,1030,0.000,0.137,1785,1983,2416,2416,4095,0,0,0,0,0,0,25.94,25.90,25.98,10.07,34.13
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,501,-0.45,0.0,1785,2035,2417,4094,55.9,-13.1,35,533,5.43,0.00,13.20,3.945,10244,0.271,0.000,2255,2035,2176,2176,4094,0,0,0,0,0,0,25.86,25.06,24.27,10.07,34.40
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,535,1.98,195.5,2255,2035,2176,4094,59.0,0.0,37,572,8.30,0.00,12.62,3.898,11270,0.144,0.000,3020,2035,1945,1945,4094,0,0,0,0,0,0,25.65,25.86,24.06,10.02,33.77
$GC,635,1.98,195.5,3019,2035,1944,4094,50.7,13.1,44,653,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2035,1943,1943,4094,0,0,0,0,0,0,25.82,25.84,25.84,9.97,33.57
$GC,714,1.98,195.5,3019,2035,1941,4094,40.3,13.4,50,732,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2038,1941,1941,4094,0,0,0,0,0,0,25.95,25.97,25.96,9.97,33.85
$GC,795,1.98,195.5,3020,2038,1939,4094,29.5,13.1,56,809,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2038,1939,1939,4094,0,0,0,0,0,0,26.05,26.06,26.06,9.97,34.09
$GC,872,1.98,195.5,3019,2038,1937,4094,19.3,13.1,62,887,0.00,3.42,0.00,0.000,516,0.000,0.258,3020,827,1936,1936,4094,0,0,0,0,0,0,26.12,25.69,26.13,9.96,33.93
$GC,960,1.98,195.5,3020,827,1934,4094,7.3,13.6,69,979,0.00,3.10,0.00,0.000,1030,0.000,0.129,3020,2025,1935,1935,4095,0,0,0,0,0,0,25.92,25.89,25.96,9.97,34.87
$STATE,1018,end climb,SURFACE_DEPTH_REACHED
$STATE,1018,begin surface coast
$FINISH,0.1,1.010587
$STATE,1057,end surface coast,CONTROL_FINISHED_OK
$STATE,1057,begin surface
$SM_CCo,1093,6.70,1.845,0,0,1822,300.51
$SM_GC,1.84,29.60,0.00,6.70,0.114,0.000,1.845,242,2029,1822,-6.77,0.18,300.51,0,0,0,0,0,0,25.92,26.26,24.89
$IRIDIUM_FIX,5554.28,-16557.83,290417,005543
$TT8_MAMPS,0.026215,0.243425
$HUMID,34.52
$INTERNAL_PRESSURE,9.89652
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,46.3,6.9
$24V_AH,24.06,6.877
$10V_AH,8.96,7.715
$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,50.325,29.225,25.825,6.700,0.000,0.000,0.000,0.000,0.500,0.000,0.000,275.431,0.000,134.078,729.133,18.884,33.422,377.386,0.000,741.610,0.000,5.440,0.000
$DEVICE_MAMPS,270.647,330.239,3945.487,1844.869,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.154,97.589,163.458,417.101,717.202,0.000,0.000,0.000,0.000,0.000
$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,7411,76
$CAP_FILE_SIZE,22335,9
$CFSIZE,1024409600,1017282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,021704,5714.022,-16546.297,2,0.9,15,10.7,0.0,0.0,9,5.0