version: 66.12
glider: 401
mission: 20
dive: 29
start: 4 29 117 3 20 48
data:
$ID,401
$MISSION,20
$DIVE,29
$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,13
$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
$GPS1,290417,030305,5714.2456,-16546.4336,5,1.0,16,10.7,0.0,227.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.1
$GPS2,290417,030305,5714.2456,-16546.4336,5,1.0,16,10.7,0.0,227.0,9,4.8
$SPEED_LIMITS,0.102,0.315
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.254731,-0.185347
$KALMAN_X,-5416.178223,-1394.645264,-890.336243,6665.395996,-130.312561
$KALMAN_Y,-188.194580,86.827896,21.645338,-532.618042,162.389084
$MHEAD_RNG_PITCHd_Wd,48.8,97263,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.82,-293.3,2357,2018,2347,4094,0.0,0.0,0,19,0.00,0.00,-1.70,0.000,16390,0.000,0.000,2357,2018,2522,2522,4094,0,0,0,0,0,0,26.18,24.58,26.15,10.07,34.95
$GC,21,-1.82,-293.3,2357,2018,2522,4095,0.0,0.0,0,40,5.60,3.47,0.00,0.000,4356,0.151,0.263,1836,3224,2522,2522,4095,0,0,0,0,0,0,25.89,25.70,25.94,10.11,35.39
$GC,126,-1.82,-293.3,1836,3224,2523,4094,6.6,-11.4,8,141,0.00,3.15,0.00,0.000,1030,0.000,0.124,1836,2026,2523,2523,4094,0,0,0,0,0,0,25.96,25.91,25.98,10.12,35.82
$GC,206,-1.82,-293.3,1836,2026,2525,4094,16.7,-12.7,14,219,0.00,3.35,0.00,0.000,516,0.000,0.261,1836,827,2525,2525,4094,0,0,0,0,0,0,26.28,25.84,26.29,10.10,34.87
$GC,283,-1.82,-293.3,1836,827,2527,4095,27.6,-14.3,20,298,0.00,3.08,0.00,0.000,1030,0.000,0.142,1836,2010,2527,2527,4094,0,0,0,0,0,0,26.03,25.98,26.07,10.10,34.76
$GC,361,-1.82,-293.3,1836,2010,2529,4094,36.7,-11.5,26,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2010,2529,2529,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.09,34.36
$GC,440,-1.82,-293.3,1836,2010,2530,4094,46.0,-11.4,32,458,0.00,3.42,0.00,0.000,260,0.000,0.268,1836,3215,2531,2531,4095,0,0,0,0,0,0,26.36,25.89,26.37,10.09,34.13
$GC,474,-1.82,-293.3,1836,3215,2531,4095,50.6,-12.4,34,489,0.00,3.12,0.00,0.000,1030,0.000,0.129,1836,2023,2532,2532,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.09,34.36
$STATE,516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,516,begin apogee
$GC,519,-0.45,0.0,1836,2023,2533,4094,56.1,-13.0,37,549,4.78,0.00,18.55,4.129,10244,0.256,0.000,2257,2020,2176,2176,4094,0,0,0,0,0,0,26.03,25.06,24.27,10.09,34.20
$STATE,550,end apogee,CONTROL_FINISHED_OK
$STATE,550,begin climb
$GC,551,1.82,293.3,2256,2020,2176,4094,59.4,0.0,39,584,7.78,0.00,18.12,4.075,11270,0.146,0.000,2976,2020,1831,1831,4094,0,0,0,0,0,0,25.65,25.84,23.92,10.02,33.73
$GC,649,1.82,293.3,2975,2020,1830,4094,51.2,11.8,46,663,0.00,3.47,0.00,0.000,260,0.000,0.251,2976,3215,1829,1829,4094,0,0,0,0,0,0,25.73,25.32,25.75,9.95,33.65
$GC,690,1.82,293.3,2975,3215,1829,4094,44.4,15.0,49,710,0.00,3.17,0.00,0.000,1030,0.000,0.122,2976,2027,1828,1828,4095,0,0,0,0,0,0,25.56,25.51,25.59,9.95,33.97
$GC,774,1.82,293.3,2975,2027,1826,4094,31.3,14.8,55,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2028,1825,1825,4094,0,0,0,0,0,0,25.95,25.97,25.96,9.95,34.24
$GC,851,1.82,293.3,2975,2028,1823,4094,20.1,14.0,61,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2028,1823,1823,4094,0,0,0,0,0,0,26.04,26.06,26.06,9.95,34.13
$GC,928,1.82,293.3,2975,2028,1821,4094,9.8,13.1,67,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2027,1820,1820,4094,0,0,0,0,0,0,26.12,26.13,26.13,9.95,33.89
$STATE,996,end climb,SURFACE_DEPTH_REACHED
$STATE,997,begin surface coast
$FINISH,0.2,1.013665
$STATE,1024,end surface coast,CONTROL_FINISHED_OK
$STATE,1024,begin surface
$SM_CCo,1119,0.00,0.000,0,0,1818,306.52
$SM_GC,0.97,29.05,0.00,0.00,0.112,0.000,0.000,243,2023,1818,-6.77,-0.09,306.52,0,0,0,0,0,0,25.86,26.21,25.94
$IRIDIUM_FIX,5744.64,-16600.79,290417,021758
$TT8_MAMPS,0.026964,0.264397
$HUMID,34.44
$INTERNAL_PRESSURE,9.89652
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,46.0,7.0
$24V_AH,23.92,7.083
$10V_AH,8.89,7.820
$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,47.200,26.250,36.675,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,280.464,59.955,112.183,703.632,17.711,33.408,339.698,0.000,716.371,0.000,5.439,0.000
$DEVICE_MAMPS,255.749,268.164,4129.229,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.885,95.051,159.144,400.882,691.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344700
$DATA_FILE_SIZE,7399,74
$CAP_FILE_SIZE,21056,5
$CFSIZE,1024409600,1017085952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.400,357.36,1
$GPS,290417,034047,5714.598,-16546.217,2,1.2,48,10.7,0.0,0.0,8,3.7