version: 66.12
glider: 401
mission: 20
dive: 27
start: 4 29 117 2 39 10
data:
$ID,401
$MISSION,20
$DIVE,27
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,2
$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,16
$R_STBD_OVSHOOT,15
$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
$GPS1,290417,022155,5714.0532,-16546.3711,6,0.9,18,10.7,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,0.1
$GPS2,290417,022155,5714.0532,-16546.3711,6,0.9,18,10.7,0.0,0.0,9,4.9
$SPEED_LIMITS,0.102,0.315
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.282608,-0.139192
$KALMAN_X,-4931.741211,-1287.983765,-900.717590,6146.520020,-170.507141
$KALMAN_Y,-624.411682,-22.600353,-100.944969,-220.684128,115.663765
$MHEAD_RNG_PITCHd_Wd,138.6,97114,-14.8,-10.185,-17.92,4340
$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,13,begin dive
$GC,15,-1.82,-293.3,2355,2028,2345,4094,0.0,0.0,0,18,0.00,0.00,-1.73,0.000,16390,0.000,0.000,2355,2028,2521,2521,4094,0,0,0,0,0,0,26.17,24.57,26.13,10.07,35.39
$GC,20,-1.82,-293.3,2355,2028,2521,4094,0.0,0.0,0,35,5.40,3.38,0.00,0.000,4612,0.129,0.253,1848,826,2520,2520,4095,0,0,0,0,0,0,25.88,25.73,25.92,10.12,34.91
$GC,87,-1.82,-293.3,1848,825,2522,4094,5.0,-9.4,5,102,0.00,3.15,0.00,0.000,1030,0.000,0.144,1848,2026,2522,2522,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.11,34.91
$GC,167,-1.82,-293.3,1848,2026,2523,4094,14.9,-12.2,11,182,0.00,3.42,0.00,0.000,260,0.000,0.281,1848,3218,2524,2524,4095,0,0,0,0,0,0,26.25,25.76,26.26,10.10,34.56
$GC,210,-1.82,-293.3,1847,3218,2524,4094,20.4,-12.6,14,225,0.00,3.15,0.00,0.000,1030,0.000,0.129,1848,2023,2525,2525,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.10,34.52
$GC,290,-1.82,-293.3,1848,2024,2526,4094,30.0,-11.7,20,308,0.00,3.35,0.00,0.000,516,0.000,0.263,1848,826,2527,2527,4094,0,0,0,0,0,0,26.30,25.86,26.32,10.09,35.23
$GC,361,-1.82,-293.3,1848,826,2528,4094,39.0,-12.7,25,376,0.00,3.03,0.00,0.000,1030,0.000,0.142,1848,1990,2528,2528,4094,0,0,0,0,0,0,26.06,26.01,26.08,10.09,34.13
$GC,444,-1.82,-293.3,1847,1990,2530,4095,49.5,-13.1,31,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1991,2530,2530,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.09,34.20
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,502,-0.45,0.0,1847,2039,2531,4094,56.2,-12.2,35,535,4.62,0.00,18.48,4.119,10244,0.251,0.000,2256,2039,2173,2173,4094,0,0,0,0,0,0,26.01,25.04,24.26,10.09,33.97
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,537,1.82,293.3,2255,2039,2173,4094,58.8,0.0,37,574,7.80,0.00,17.88,4.070,11270,0.142,0.000,2975,2039,1831,1831,4094,0,0,0,0,0,0,25.66,25.84,23.94,10.02,33.73
$GC,637,1.82,293.3,2975,2039,1829,4094,49.3,13.6,44,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2039,1829,1829,4094,0,0,0,0,0,0,25.74,25.75,25.75,9.95,33.81
$GC,713,1.82,293.3,2975,2039,1827,4094,38.1,15.2,50,732,0.00,3.47,0.00,0.000,516,0.000,0.258,2976,826,1827,1827,4094,0,0,0,0,0,0,25.89,25.50,25.90,9.95,33.77
$GC,772,1.82,293.3,2976,826,1825,4094,29.0,15.5,54,791,0.00,3.05,0.00,0.000,1030,0.000,0.134,2976,1990,1824,1824,4094,0,0,0,0,0,0,25.70,25.67,25.74,9.95,34.17
$GC,855,1.82,293.3,2975,1990,1822,4094,17.4,13.5,60,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1990,1822,1822,4095,0,0,0,0,0,0,26.06,26.08,26.07,9.94,34.09
$GC,932,1.82,293.3,2976,1990,1820,4094,7.1,13.3,66,951,0.00,3.47,0.00,0.000,260,0.000,0.251,2976,3212,1820,1820,4094,0,0,0,0,0,0,26.13,25.67,26.14,9.95,34.32
$STATE,977,end climb,SURFACE_DEPTH_REACHED
$STATE,977,begin surface coast
$FINISH,0.1,1.025015
$STATE,1006,end surface coast,CONTROL_FINISHED_OK
$STATE,1006,begin surface
$SM_CCo,1104,0.00,0.000,0,0,1818,306.52
$SM_GC,0.94,29.12,3.15,0.00,0.112,0.127,0.000,243,2021,1818,-6.77,1.05,306.52,0,0,1,0,0,0,25.86,25.86,25.94
$IRIDIUM_FIX,5744.64,-16600.79,290417,013651
$TT8_MAMPS,0.026215,0.25466
$HUMID,34.48
$INTERNAL_PRESSURE,9.89652
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,45.7,7.4
$24V_AH,23.94,6.980
$10V_AH,8.95,7.767
$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,46.950,32.700,36.350,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,276.318,59.769,122.855,682.893,17.913,33.408,350.731,0.000,695.287,0.000,5.442,0.000
$DEVICE_MAMPS,250.783,394.797,4119.297,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.741,91.168,152.709,393.116,671.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344720
$DATA_FILE_SIZE,7426,71
$CAP_FILE_SIZE,21859,7
$CFSIZE,1024409600,1017184256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.520,339.91,1
$GPS,290417,025830,5714.200,-16546.398,2,1.0,24,10.7,0.9,204.1,9,5.0