version: 66.12
glider: 401
mission: 17
dive: 1
start: 2 22 117 20 31 41
data:
$ID,401
$MISSION,17
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$D_ABORT,220
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,30
$T_MISSION,45
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74518
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0020000001
$HD_B,0.017689999
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$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,0
$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,2464
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$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,2212
$C_ROLL_CLIMB,2212
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2133
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,0
$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,-51.172127
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,2.9363699
$GPS1,220217,202635,4742.6455,-12224.6787,1,1.0,47,16.3,1.3,220.7,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-52.0
$GPS2,220217,203039,4742.6616,-12224.6348,4,1.0,49,16.3,0.6,19.0,8,3.0
$SPEED_LIMITS,0.119,0.225
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.018613,0.224053
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,339.0,2487,-15.0,-10.000,-23.98,2935
$D_GRID,179
$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,13,begin dive
$GC,14,-1.14,-195.5,243,2220,60,4094,0.0,0.0,0,33,0.00,0.00,-16.65,0.000,16390,0.000,0.000,244,2220,2368,2368,4094,0,0,0,0,0,0,26.69,24.62,26.70,9.52,34.44
$GC,35,-1.14,-195.5,243,2220,2368,4094,0.9,0.0,1,65,23.70,3.17,0.00,0.000,2564,0.146,0.057,2087,1028,2372,2372,4094,0,0,1,0,0,0,26.00,26.09,26.21,9.97,34.76
$STATE,310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,310,begin apogee
$GC,317,-0.25,0.0,2086,2207,2389,4094,92.8,-34.6,24,346,3.45,0.00,14.07,1.509,10246,0.115,0.000,2372,2207,2134,2134,4094,0,0,0,0,0,0,26.01,25.15,24.18,9.99,34.76
$STATE,347,end apogee,CONTROL_FINISHED_OK
$STATE,347,begin climb
$GC,348,1.14,195.5,2372,2207,2133,4094,103.7,0.0,26,376,5.20,0.00,12.85,1.532,10246,0.103,0.000,2806,2207,1907,1907,4094,0,0,0,0,0,0,25.79,24.79,23.85,9.94,34.87
$GC,437,1.99,617.2,2806,2207,1907,4094,113.7,-4.7,33,478,3.22,0.00,25.90,1.701,10246,0.082,0.000,3088,2208,1415,1415,4094,0,0,0,0,0,0,25.65,24.35,23.43,9.90,33.85
$GC,540,2.11,679.1,3088,2208,1414,4094,108.4,7.8,41,555,0.35,0.00,5.53,1.145,10246,0.067,0.000,3123,2208,1341,1341,4094,0,0,0,0,0,0,25.46,24.76,23.84,9.80,33.73
$GC,616,2.24,742.5,3122,2208,1339,4094,102.6,7.8,47,632,0.47,3.47,5.38,1.092,10500,0.060,0.086,3170,3415,1268,1268,4094,0,0,0,0,0,0,25.58,24.92,23.99,9.78,33.46
$GC,785,2.28,764.3,3169,3415,1265,4095,87.4,9.2,61,800,0.00,3.08,3.10,0.570,9222,0.000,0.037,3170,2212,1240,1240,4094,0,0,0,0,0,0,25.86,25.84,24.39,9.77,33.73
$GC,861,2.34,795.8,3169,2211,1239,4094,80.7,8.9,67,876,0.35,3.45,3.60,0.681,10500,0.061,0.084,3205,3415,1204,1204,4094,0,0,0,0,0,0,25.84,25.30,24.49,9.76,33.85
$GC,1041,2.34,795.8,3204,3415,1199,4094,62.9,10.7,82,1055,0.00,3.05,0.00,0.000,1030,0.000,0.036,3205,2220,1199,1199,4094,0,0,0,0,0,0,26.01,25.98,26.04,9.75,33.97
$GC,1115,2.37,811.0,3204,2220,1197,4094,55.8,9.5,88,1130,0.00,3.28,2.40,0.226,8708,0.000,0.070,3204,1032,1187,1187,4094,0,0,0,0,0,0,26.36,25.44,24.68,9.75,34.24
$GC,1237,2.44,842.5,3204,1032,1184,4094,44.7,8.9,98,1253,0.30,3.05,3.53,0.498,11270,0.063,0.041,3234,2211,1150,1150,4094,0,0,0,0,0,0,25.96,25.97,24.85,9.75,33.93
$GC,1314,2.47,856.6,3234,2211,1147,4094,37.5,9.5,104,1329,0.00,3.40,2.60,0.262,8452,0.000,0.086,3234,3411,1132,1132,4094,0,0,0,0,0,0,26.43,25.57,24.91,9.74,34.05
$GC,1343,2.51,877.5,3234,3411,1131,4094,34.7,9.3,106,1358,0.22,3.08,3.00,0.356,11270,0.058,0.039,3257,2201,1107,1107,4094,0,0,0,0,0,0,26.05,26.10,24.94,9.74,34.44
$GC,1418,2.51,877.5,3257,2201,1105,4094,26.7,10.9,112,1433,0.00,3.45,0.00,0.000,260,0.000,0.090,3258,3408,1104,1104,4094,0,0,0,0,0,0,26.44,25.83,26.45,9.74,34.09
$STATE,1632,end climb,SURFACE_DEPTH_REACHED
$STATE,1632,begin surface coast
$FINISH,-0.0,1.015873
$STATE,1670,end surface coast,CONTROL_FINISHED_OK
$STATE,1670,begin surface
$SM_CCo,1771,0.00,0.000,0,0,1097,890.37
$SM_GC,1.17,31.73,3.05,0.00,0.033,0.037,0.000,231,2224,1097,-6.98,1.87,890.37,0,0,0,0,0,0,25.75,26.20,25.98
$IRIDIUM_FIX,4748.51,-12337.82,220217,202151
$TT8_MAMPS,0.026215,0.248668
$HUMID,33.77
$INTERNAL_PRESSURE,9.65237
$TCM_TEMP,5.70
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,4.5
$24V_AH,23.43,2.926
$10V_AH,9.46,3.235
$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,69.000,38.600,81.950,0.000,0.000,0.000,0.000,0.000,1.000,0.000,51.049,395.594,59.726,123.810,1284.683,21.145,29.318,414.140,0.000,219.713,0.000,2.738,0.000
$DEVICE_MAMPS,146.115,89.505,1701.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.733,170.897,0.000,690.168,1220.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322460
$DATA_FILE_SIZE,10816,133
$CAP_FILE_SIZE,40839,0
$CFSIZE,1024409600,1018314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,220217,210159,4742.672,-12224.653,2,0.8,15,16.3,0.5,247.6,10,4.7