version: 66.12
glider: 401
mission: 20
dive: 73
start: 4 29 117 19 30 0
data:
$ID,401
$MISSION,20
$DIVE,73
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$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,20
$T_MISSION,42
$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,450
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,3
$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
$GPS1,290417,191056,5714.5815,-16528.3086,4,0.9,22,10.8,0.5,311.5,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,4.8
$GPS2,290417,191056,5714.5815,-16528.3086,4,0.9,22,10.8,0.5,311.5,11,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5711.066,-16509.467
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162249,-0.327496
$KALMAN_X,-3354.173096,1305.307373,682.537842,18496.216797,212.228333
$KALMAN_Y,5943.356934,745.167725,658.488281,-7338.672852,252.679932
$MHEAD_RNG_PITCHd_Wd,98.2,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$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,-1.72,-439.9,2349,2020,2368,4094,0.0,0.0,0,19,0.00,0.00,-1.40,0.000,16390,0.000,0.000,2349,2020,2697,2697,4094,0,0,0,0,0,0,25.89,24.48,25.85,10.06,36.02
$GC,21,-1.72,-439.9,2349,2020,2697,4094,0.0,0.0,0,36,5.38,4.00,0.00,0.000,4612,0.191,0.278,1865,613,2697,2697,4094,0,0,0,0,0,0,25.63,25.46,25.66,10.13,35.94
$GC,63,-1.72,-439.9,1864,614,2698,4094,10.6,-11.9,3,77,0.00,3.75,0.00,0.000,1030,0.000,0.146,1864,2022,2698,2698,4094,0,0,0,0,0,0,25.67,25.63,25.70,10.13,35.54
$GC,140,-1.72,-439.9,1864,2023,2700,4094,19.1,-10.5,9,153,0.00,4.18,0.00,0.000,260,0.000,0.310,1864,3440,2700,2700,4095,0,0,0,0,0,0,26.01,25.56,26.03,10.12,35.19
$GC,193,-1.72,-439.9,1864,3440,2701,4094,25.2,-11.6,13,208,0.00,3.72,0.00,0.000,1030,0.000,0.134,1865,2041,2701,2701,4094,0,0,0,0,0,0,25.81,25.75,25.83,10.12,35.78
$GC,271,-1.72,-439.9,1864,2042,2702,4094,33.8,-10.8,19,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2042,2702,2702,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,35.15
$GC,352,-1.72,-439.9,1864,2042,2704,4095,42.8,-11.0,25,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2042,2705,2705,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.10,35.31
$GC,432,-1.72,-439.9,1864,2042,2706,4094,51.3,-11.1,31,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2042,2706,2706,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,35.23
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,501,-0.45,0.0,1864,2042,2707,4095,59.2,-11.5,36,543,4.38,0.00,26.90,4.325,10244,0.223,0.000,2256,2038,2174,2174,4094,0,0,0,0,0,0,25.94,24.77,23.99,10.12,34.80
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,546,1.72,439.9,2255,2038,2174,4094,61.8,0.0,39,583,7.50,0.00,26.10,4.256,11270,0.139,0.000,2943,2039,1661,1661,4094,0,0,0,0,0,0,25.35,25.55,23.58,10.01,34.44
$GC,646,1.72,439.9,2942,2038,1660,4094,53.8,12.4,46,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2038,1659,1659,4094,0,0,0,0,0,0,25.48,25.49,25.48,9.91,34.28
$GC,722,1.72,439.9,2942,2038,1657,4094,43.9,13.2,52,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2039,1657,1657,4094,0,0,0,0,0,0,25.69,25.71,25.70,9.90,34.13
$GC,798,1.72,439.9,2942,2038,1655,4094,33.9,13.1,58,813,0.00,4.12,0.00,0.000,260,0.000,0.283,2944,3443,1654,1654,4094,0,0,0,0,0,0,25.83,25.41,25.84,9.90,34.17
$GC,863,1.72,439.9,2943,3444,1653,4094,24.1,15.7,63,881,0.00,3.78,0.00,0.000,1030,0.000,0.124,2944,2028,1653,1653,4094,0,0,0,0,0,0,25.65,25.61,25.70,9.90,34.05
$GC,947,1.72,439.9,2943,2028,1651,4094,12.4,13.6,69,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2028,1650,1650,4094,0,0,0,0,0,0,26.01,26.02,26.02,9.91,34.40
$STATE,1023,end climb,SURFACE_DEPTH_REACHED
$STATE,1023,begin surface coast
$FINISH,0.2,1.025271
$STATE,1051,end surface coast,CONTROL_FINISHED_OK
$STATE,1051,begin surface
$SM_CCo,1146,0.00,0.000,0,0,1647,453.34
$SM_GC,0.71,28.80,0.00,0.00,0.112,0.000,0.000,242,2023,1647,-6.77,-0.09,453.34,0,0,0,0,0,0,25.82,26.11,25.88
$IRIDIUM_FIX,5744.64,-16600.79,290417,182210
$TT8_MAMPS,0.026964,0.251664
$HUMID,35.07
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,8.5
$24V_AH,23.58,10.119
$10V_AH,8.86,9.037
$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,46.050,27.350,53.000,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,272.121,59.665,115.121,736.641,19.408,33.413,354.140,0.000,749.644,0.000,5.446,0.000
$DEVICE_MAMPS,223.470,310.375,4325.386,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.899,98.884,165.582,419.434,724.950,0.000,0.000,0.000,0.000,0.000
$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,7464,77
$CAP_FILE_SIZE,20940,5
$CFSIZE,1024409600,1014923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,195000,5714.571,-16527.244,4,0.9,22,10.9,0.7,30.2,10,4.9