version: 66.12
glider: 401
mission: 20
dive: 55
start: 4 29 117 12 48 59
data:
$ID,401
$MISSION,20
$DIVE,55
$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,20
$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
$GPS1,290417,123121,5713.2866,-16533.9082,5,0.9,36,10.8,1.1,104.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.3
$GPS2,290417,123121,5713.2866,-16533.9082,5,0.9,36,10.8,1.1,104.9,10,5.0
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5709.771,-16515.078
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.338129,0.109919
$KALMAN_X,-4017.541260,999.222229,974.516663,13559.189453,-79.097534
$KALMAN_Y,1891.335205,-13.663605,-589.288940,-3676.740479,-217.440659
$MHEAD_RNG_PITCHd_Wd,98.2,20000,-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,-391.0,2351,2017,2357,4094,0.0,0.0,0,36,0.00,0.00,-2.47,0.000,16390,0.000,0.000,2351,2017,2635,2635,4094,0,0,0,0,0,0,26.14,24.63,26.12,10.06,35.11
$GC,38,-1.78,-391.0,2350,2017,2634,4094,0.4,0.0,1,56,5.38,0.00,0.00,0.000,4102,0.159,0.000,1861,2017,2635,2635,4094,0,0,0,0,0,0,25.48,25.51,25.51,10.12,35.35
$GC,118,-1.78,-391.0,1861,2016,2636,4095,8.6,-9.6,7,133,0.00,3.50,0.00,0.000,260,0.000,0.271,1861,3216,2636,2636,4094,0,0,0,0,0,0,25.90,25.47,25.91,10.12,34.91
$GC,172,-1.78,-391.0,1860,3216,2637,4095,14.6,-11.2,11,190,0.00,3.17,0.00,0.000,1030,0.000,0.119,1861,2021,2637,2637,4095,0,0,0,0,0,0,25.71,25.67,25.74,10.12,35.86
$GC,254,-1.78,-391.0,1860,2021,2639,4094,24.1,-11.5,17,268,0.00,3.35,0.00,0.000,516,0.000,0.246,1861,827,2639,2639,4095,0,0,0,0,0,0,26.06,25.65,26.06,10.11,34.83
$GC,307,-1.78,-391.0,1860,827,2640,4094,30.8,-12.6,21,321,0.00,3.12,0.00,0.000,1030,0.000,0.139,1861,2015,2640,2640,4094,0,0,0,0,0,0,25.82,25.78,25.85,10.11,35.31
$GC,383,-1.78,-391.0,1860,2015,2642,4095,39.9,-11.5,27,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2015,2642,2642,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.11,34.91
$GC,460,-1.78,-391.0,1860,2015,2643,4094,48.6,-11.3,33,480,0.00,3.33,0.00,0.000,516,0.000,0.243,1861,829,2644,2644,4094,0,0,0,0,0,0,26.20,25.79,26.22,10.11,34.64
$GC,496,-1.78,-391.0,1860,830,2644,4094,52.9,-11.6,35,511,0.00,3.10,0.00,0.000,1030,0.000,0.139,1861,2015,2644,2644,4094,0,0,0,0,0,0,25.94,25.89,25.98,10.10,34.40
$STATE,526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,527,begin apogee
$GC,530,-0.45,0.0,1861,2015,2645,4094,56.7,-12.2,37,572,4.38,0.00,23.83,4.234,10244,0.231,0.000,2250,2015,2174,2174,4094,0,0,0,0,0,0,25.91,24.83,24.06,10.10,35.23
$STATE,573,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,575,1.78,391.0,2251,2015,2174,4094,59.7,0.0,40,612,7.75,0.00,23.20,4.164,11270,0.142,0.000,2961,2015,1718,1718,4094,0,0,0,0,0,0,25.41,25.62,23.70,10.01,34.09
$GC,674,1.78,391.0,2961,2015,1716,4094,51.2,13.1,47,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2015,1716,1716,4094,0,0,0,0,0,0,25.53,25.55,25.54,9.93,34.20
$GC,750,1.78,391.0,2961,2015,1713,4094,40.2,14.2,53,768,0.00,3.40,0.00,0.000,516,0.000,0.256,2961,829,1714,1714,4094,0,0,1,0,0,0,25.73,25.34,25.75,9.92,33.93
$GC,820,1.78,391.0,2960,829,1712,4094,30.0,14.9,58,838,0.00,3.15,0.00,0.000,1030,0.000,0.132,2961,2022,1711,1711,4094,0,0,0,0,0,0,25.58,25.56,25.64,9.91,34.13
$GC,901,1.78,391.0,2961,2022,1710,4094,18.8,13.6,64,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2022,1709,1709,4094,0,0,0,0,0,0,25.96,25.97,25.97,9.92,34.13
$GC,978,1.78,391.0,2961,2022,1707,4094,8.5,13.3,70,993,0.00,3.45,0.00,0.000,260,0.000,0.261,2961,3223,1707,1707,4094,0,0,0,0,0,0,26.04,25.60,26.05,9.92,34.28
$STATE,1031,end climb,SURFACE_DEPTH_REACHED
$STATE,1032,begin surface coast
$FINISH,0.2,1.025176
$STATE,1058,end surface coast,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$SM_CCo,1157,0.00,0.000,0,0,1705,403.54
$SM_GC,0.85,29.12,3.20,0.00,0.112,0.127,0.000,231,2022,1705,-6.81,0.82,403.54,0,0,1,0,0,0,25.53,25.79,25.77
$IRIDIUM_FIX,5744.64,-16600.79,290417,114522
$TT8_MAMPS,0.026964,0.259903
$HUMID,35.35
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,10.0
$24V_AH,23.70,8.820
$10V_AH,8.86,8.524
$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,46.625,32.775,47.025,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,272.074,60.290,132.342,724.399,19.899,33.408,394.838,0.000,736.752,0.000,5.439,0.000
$DEVICE_MAMPS,230.919,270.647,4233.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.915,97.508,163.430,412.110,711.877,0.000,0.000,0.000,0.000,0.000
$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,7321,76
$CAP_FILE_SIZE,22318,7
$CFSIZE,1024409600,1015808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,290417,130935,5713.080,-16533.605,3,0.8,47,10.8,0.0,0.0,10,4.9