version: 66.12
glider: 401
mission: 20
dive: 56
start: 4 29 117 13 15 35
data:
$ID,401
$MISSION,20
$DIVE,56
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,290417,130935,5713.0801,-16533.6055,3,0.8,47,10.8,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-41.2
$GPS2,290417,131435,5713.0850,-16533.6719,5,0.8,14,10.8,0.0,0.0,10,4.9
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5709.569,-16514.844
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.331763,0.127826
$KALMAN_X,-4106.113770,999.173157,937.595337,13918.895508,-186.862183
$KALMAN_Y,1607.026733,-107.978775,-668.527466,-3586.361084,-197.261551
$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,15,-1.78,-391.0,230,2019,1705,4094,0.0,0.0,0,33,0.00,0.00,-8.27,0.000,16390,0.000,0.000,231,2019,2635,2635,4095,0,0,0,0,0,0,26.02,25.18,26.03,9.93,35.70
$GC,34,-1.78,-391.0,231,2019,2635,4095,1.0,0.0,1,68,20.10,3.55,0.00,0.000,2308,0.407,0.286,1826,3222,2638,2638,4094,0,0,0,0,0,0,25.42,25.38,25.51,10.12,36.45
$GC,96,-1.78,-391.0,1825,3221,2638,4094,16.7,-25.9,5,114,0.00,3.20,0.00,0.000,1030,0.000,0.127,1826,2026,2639,2639,4094,0,0,0,0,0,0,25.63,25.60,25.67,10.12,35.94
$GC,178,-1.78,-391.0,1825,2025,2641,4094,27.5,-12.9,11,191,0.00,3.38,0.00,0.000,516,0.000,0.256,1826,829,2641,2641,4095,0,0,0,0,0,0,26.01,25.59,26.01,10.11,34.99
$GC,255,-1.78,-391.0,1825,829,2643,4094,38.4,-14.4,17,269,0.00,3.10,0.00,0.000,1030,0.000,0.137,1826,2008,2643,2643,4095,0,0,0,0,0,0,25.82,25.75,25.84,10.11,34.60
$GC,332,-1.78,-391.0,1826,2008,2645,4094,48.6,-12.6,23,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2008,2645,2645,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.11,35.15
$STATE,390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,390,begin apogee
$GC,393,-0.45,0.0,1826,2008,2646,4094,56.2,-12.8,27,427,4.85,0.00,23.90,4.226,10244,0.231,0.000,2257,2008,2174,2174,4094,0,0,0,0,0,0,25.84,25.06,23.99,10.11,34.40
$STATE,428,end apogee,CONTROL_FINISHED_OK
$STATE,428,begin climb
$GC,429,1.78,391.0,2256,2008,2174,4094,59.1,0.0,29,462,7.72,0.00,23.42,4.142,11270,0.139,0.000,2964,2010,1717,1717,4094,0,0,0,0,0,0,25.34,25.52,23.62,10.01,35.11
$GC,526,1.78,391.0,2964,2010,1716,4094,51.0,13.0,36,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2010,1716,1716,4094,0,0,0,0,0,0,25.50,25.52,25.51,9.93,34.05
$GC,605,1.78,391.0,2964,2010,1714,4094,39.4,14.6,42,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2010,1713,1713,4094,0,0,0,0,0,0,25.72,25.74,25.74,9.92,34.32
$GC,681,1.78,391.0,2964,2009,1711,4095,28.5,13.9,48,700,0.00,3.35,0.00,0.000,516,0.000,0.251,2964,830,1710,1710,4094,0,0,1,0,0,0,25.86,25.51,25.86,9.92,34.76
$GC,739,1.78,391.0,2964,830,1710,4094,20.2,14.4,52,754,0.00,3.12,0.00,0.000,1030,0.000,0.132,2964,2019,1709,1709,4094,0,0,0,0,0,0,25.67,25.61,25.71,9.92,34.48
$GC,817,1.78,391.0,2964,2019,1707,4094,9.8,13.0,58,832,0.00,3.45,0.00,0.000,260,0.000,0.266,2964,3215,1706,1706,4094,0,0,0,0,0,0,26.02,25.60,26.03,9.92,34.48
$STATE,870,end climb,FINISH_DEPTH_REACHED
$STATE,871,begin subsurface finish
$FINISH1,2.2,1.025158,-151
$GC,878,-0.24,-151.0,2965,2006,1705,4094,2.2,14.0,62,895,6.80,0.00,-6.15,0.000,20486,0.214,0.000,2352,2005,2354,2354,4094,0,0,0,0,0,0,25.82,24.64,25.84,9.94,34.76
$FINISH2,0.6
$STATE,896,end subsurface finish,CONTROL_FINISHED_OK
$STATE,896,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,290417,123028
$TT8_MAMPS,0.026215,0.250166
$HUMID,35.23
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.4
$24V_AH,23.62,8.892
$10V_AH,8.89,8.552
$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,39.475,26.325,47.325,0.000,0.000,24.374,34.126,168.767,0.500,0.000,15.466,238.071,0.000,95.758,856.702,29.962,33.459,330.871,0.000,618.167,0.000,7.311,0.000
$DEVICE_MAMPS,407.212,285.545,4226.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.954,80.776,135.479,345.631,593.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3909,63
$CAP_FILE_SIZE,23215,7
$CFSIZE,1024409600,1015758848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,290417,131435,5713.085,-16533.672,5,0.8,14,10.8,0.0,0.0,10,4.9