version: 66.12
glider: 401
mission: 20
dive: 33
start: 4 29 117 4 45 38
data:
$ID,401
$MISSION,20
$DIVE,33
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,109
$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,17
$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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,5
$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
$GPS1,290417,042740,5715.0405,-16545.7090,5,0.9,16,10.7,0.6,1.9,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-0.8
$GPS2,290417,042740,5715.0405,-16545.7090,5,0.9,16,10.7,0.6,1.9,10,4.8
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5711.525,-16526.863
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.075309,-0.347494
$KALMAN_X,-5681.963867,-1375.325073,-649.864380,7397.332520,66.722778
$KALMAN_Y,1488.375732,510.272308,417.287659,-1556.395630,324.249512
$MHEAD_RNG_PITCHd_Wd,98.3,20000,-12.7,-10.185,-15.98,5763
$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,-1.78,-391.0,2354,2024,2350,4094,0.0,0.0,0,33,0.00,0.00,-2.83,0.000,16390,0.000,0.000,2355,2024,2636,2636,4094,0,0,0,0,0,0,26.09,24.58,26.08,10.07,35.07
$GC,35,-1.78,-391.0,2354,2024,2636,4094,0.1,0.0,1,49,5.90,0.00,0.00,0.000,4102,0.266,0.000,1845,2025,2636,2636,4095,0,0,0,0,0,0,25.51,25.56,25.54,10.13,35.27
$GC,112,-1.78,-391.0,1845,2025,2637,4094,6.9,-10.6,7,127,0.00,3.50,0.00,0.000,260,0.000,0.276,1845,3219,2638,2638,4094,0,0,0,0,0,0,25.91,25.47,25.92,10.13,35.23
$GC,155,-1.78,-391.0,1843,3219,2638,4094,12.5,-13.0,10,169,0.00,3.17,0.00,0.000,1030,0.000,0.124,1845,2026,2639,2639,4094,0,0,0,0,0,0,25.71,25.66,25.75,10.13,34.80
$GC,234,-1.78,-391.0,1844,2027,2640,4094,22.3,-12.4,16,248,0.00,3.38,0.00,0.000,516,0.000,0.258,1845,830,2641,2641,4094,0,0,0,0,0,0,26.05,25.64,26.06,10.12,34.87
$GC,276,-1.78,-391.0,1845,830,2642,4094,28.1,-13.2,19,291,0.00,3.10,0.00,0.000,1030,0.000,0.142,1845,2009,2642,2642,4094,0,0,0,0,0,0,25.81,25.77,25.84,10.12,34.80
$GC,355,-1.78,-391.0,1844,2010,2643,4094,37.2,-11.1,25,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2010,2643,2643,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.11,34.68
$GC,433,-1.78,-391.0,1844,2009,2645,4094,46.6,-12.0,31,448,0.00,3.47,0.00,0.000,260,0.000,0.278,1845,3220,2645,2645,4094,0,0,0,0,0,0,26.20,25.72,26.22,10.11,34.95
$GC,467,-1.78,-391.0,1844,3220,2646,4095,50.4,-12.3,33,485,0.00,3.17,0.00,0.000,1030,0.000,0.132,1845,2017,2646,2646,4095,0,0,0,0,0,0,25.93,25.89,25.97,10.12,34.64
$STATE,511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,514,-0.45,0.0,1845,2017,2647,4094,56.3,-12.0,36,548,4.62,0.00,23.88,4.186,10244,0.236,0.000,2255,2013,2174,2174,4094,0,0,0,0,0,0,25.91,25.11,24.07,10.11,34.28
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,550,1.78,391.0,2255,2013,2174,4094,58.8,0.0,38,593,7.70,0.00,23.52,4.104,11270,0.142,0.000,2961,2013,1717,1717,4094,0,0,0,0,0,0,25.37,25.56,23.70,10.02,34.60
$GC,656,1.78,391.0,2961,2013,1716,4094,48.8,13.6,46,670,0.00,3.55,0.00,0.000,260,0.000,0.256,2962,3224,1716,1716,4094,0,0,0,0,0,0,25.56,25.16,25.57,9.93,33.81
$GC,709,1.78,391.0,2961,3224,1715,4094,40.7,15.4,50,727,0.00,3.22,0.00,0.000,1030,0.000,0.124,2962,2026,1714,1714,4094,0,0,0,0,0,0,25.46,25.40,25.48,9.93,33.97
$GC,790,1.78,391.0,2961,2026,1711,4094,28.6,15.3,56,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2026,1711,1711,4095,0,0,0,0,0,0,25.85,25.86,25.86,9.92,33.73
$GC,867,1.78,391.0,2961,2026,1709,4094,17.6,13.9,62,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2026,1709,1709,4094,0,0,0,0,0,0,25.96,25.97,25.96,9.92,34.68
$GC,944,1.78,391.0,2961,2026,1707,4094,6.8,14.0,68,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2026,1706,1706,4094,0,0,0,0,0,0,26.04,26.06,26.05,9.93,34.01
$STATE,984,end climb,SURFACE_DEPTH_REACHED
$STATE,984,begin surface coast
$FINISH,0.1,1.014171
$STATE,1012,end surface coast,CONTROL_FINISHED_OK
$STATE,1012,begin surface
$SM_CCo,1107,0.00,0.000,0,0,1706,403.54
$SM_GC,1.12,29.12,0.00,0.00,0.112,0.000,0.000,231,2022,1706,-6.81,-0.14,403.54,0,0,0,0,0,0,25.43,26.12,25.72
$IRIDIUM_FIX,5744.64,-16600.79,290417,034144
$TT8_MAMPS,0.026964,0.256158
$HUMID,34.76
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,10.0
$24V_AH,23.70,7.345
$10V_AH,8.91,7.928
$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,47.350,26.575,47.400,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,261.933,59.790,116.982,702.304,17.592,33.411,371.363,0.000,714.072,0.000,5.452,0.000
$DEVICE_MAMPS,265.681,278.096,4186.338,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.820,93.637,157.010,400.556,689.538,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7472,73
$CAP_FILE_SIZE,21371,3
$CFSIZE,1024409600,1016889344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,050450,5715.284,-16544.789,2,0.8,13,10.7,0.0,0.0,10,4.5