version: 66.12
glider: 401
mission: 20
dive: 41
start: 4 29 117 7 47 4
data:
$ID,401
$MISSION,20
$DIVE,41
$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,14
$R_STBD_OVSHOOT,24
$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
$GPS1,290417,072922,5715.7891,-16540.3906,5,0.8,36,10.8,0.0,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-0.4
$GPS2,290417,072922,5715.7891,-16540.3906,5,0.8,36,10.8,0.0,0.0,10,5.0
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5712.273,-16521.539
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.242124,-0.260384
$KALMAN_X,-4295.294434,-282.394775,680.406555,8926.308594,248.086349
$KALMAN_Y,4073.093018,1186.689941,803.515015,-3820.769043,105.563721
$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,-391.0,2337,2017,2354,4094,0.0,0.0,0,37,0.00,0.00,-2.75,0.000,16390,0.000,0.000,2337,2017,2636,2636,4094,0,0,0,0,0,0,25.91,24.49,25.90,10.06,34.80
$GC,38,-1.78,-391.0,2337,2017,2636,4094,0.1,0.0,1,57,5.38,3.53,0.00,0.000,4356,0.146,0.266,1846,3211,2636,2636,4094,0,0,0,0,0,0,25.30,25.15,25.33,10.13,35.66
$GC,73,-1.78,-391.0,1845,3211,2636,4094,3.1,-7.6,3,88,0.00,3.22,0.00,0.000,1030,0.000,0.127,1845,2019,2637,2637,4094,0,0,0,0,0,0,25.39,25.36,25.41,10.13,35.27
$GC,151,-1.78,-391.0,1845,2019,2639,4094,12.2,-11.9,9,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2019,2638,2638,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.12,34.48
$GC,232,-1.78,-391.0,1845,2018,2640,4095,21.8,-11.9,15,250,0.00,3.35,0.00,0.000,516,0.000,0.253,1845,831,2641,2641,4094,0,0,0,0,0,0,25.94,25.53,25.94,10.12,35.35
$GC,278,-1.78,-391.0,1845,831,2641,4094,27.8,-12.7,18,293,0.00,3.10,0.00,0.000,1030,0.000,0.137,1845,2007,2642,2642,4094,0,0,0,0,0,0,25.72,25.66,25.75,10.11,34.95
$GC,357,-1.78,-391.0,1845,2007,2643,4095,37.8,-12.1,24,372,0.00,3.50,0.00,0.000,260,0.000,0.278,1845,3215,2643,2643,4095,0,0,0,0,0,0,26.06,25.60,26.07,10.11,34.24
$GC,400,-1.78,-391.0,1845,3215,2644,4094,43.1,-12.2,27,418,0.00,3.15,0.00,0.000,1030,0.000,0.132,1846,2032,2645,2645,4094,0,0,0,0,0,0,25.80,25.78,25.86,10.11,34.72
$GC,490,-1.78,-391.0,1845,2032,2647,4095,53.7,-11.8,33,504,0.00,3.38,0.00,0.000,516,0.000,0.261,1845,829,2647,2647,4094,0,0,0,0,0,0,26.16,25.74,26.17,10.11,34.52
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,526,-0.45,0.0,1845,2024,2647,4094,57.8,-12.5,35,558,4.65,0.00,24.17,4.291,10244,0.238,0.000,2256,2024,2173,2173,4094,0,0,0,0,0,0,25.83,25.05,23.99,10.11,34.40
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,560,1.78,391.0,2256,2024,2173,4094,61.3,0.0,37,598,7.72,0.00,23.15,4.194,11270,0.139,0.000,2963,2024,1717,1717,4094,0,0,0,0,0,0,25.31,25.48,23.63,10.01,34.13
$GC,661,1.78,391.0,2963,2024,1716,4094,52.5,12.9,44,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2024,1715,1715,4094,0,0,0,0,0,0,25.49,25.51,25.51,9.93,34.44
$GC,741,1.78,391.0,2963,2024,1714,4094,41.6,13.5,50,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2024,1713,1713,4094,0,0,0,0,0,0,25.72,25.73,25.72,9.92,33.77
$GC,822,1.78,391.0,2963,2024,1711,4094,30.1,14.0,56,840,0.00,3.45,0.00,0.000,260,0.000,0.256,2964,3221,1710,1710,4094,0,0,0,0,0,0,25.86,25.44,25.86,9.92,33.73
$GC,868,1.78,391.0,2963,3221,1709,4094,23.2,14.8,59,886,0.00,3.20,0.00,0.000,1030,0.000,0.119,2964,2020,1709,1709,4094,0,0,0,0,0,0,25.66,25.65,25.69,9.92,34.17
$GC,950,1.78,391.0,2963,2020,1707,4094,11.6,13.7,65,965,0.00,3.38,0.00,0.000,516,0.000,0.261,2964,826,1707,1707,4094,0,0,0,0,0,0,26.01,25.59,26.02,9.92,34.09
$GC,992,1.78,391.0,2963,826,1706,4094,5.8,13.9,68,1006,0.00,3.10,0.00,0.000,1030,0.000,0.134,2964,2010,1705,1705,4094,0,0,0,0,0,0,25.77,25.73,25.80,9.93,34.44
$STATE,1022,end climb,SURFACE_DEPTH_REACHED
$STATE,1022,begin surface coast
$FINISH,0.1,1.025118
$STATE,1048,end surface coast,CONTROL_FINISHED_OK
$STATE,1049,begin surface
$SM_CCo,1144,0.00,0.000,0,0,1704,404.40
$SM_GC,1.06,29.08,0.00,0.00,0.107,0.000,0.000,232,2012,1704,-6.81,-0.59,404.40,0,0,0,0,0,0,25.45,26.10,25.73
$IRIDIUM_FIX,5744.64,-16600.79,290417,063953
$TT8_MAMPS,0.026215,0.251664
$HUMID,34.20
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,9.6
$24V_AH,23.63,7.909
$10V_AH,8.94,8.146
$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,46.825,42.700,47.325,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,270.212,60.431,143.515,705.210,19.931,33.396,409.473,0.000,717.035,0.000,5.446,0.000
$DEVICE_MAMPS,238.368,278.096,4290.624,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.138,92.348,154.868,409.150,693.220,0.000,0.000,0.000,0.000,0.000
$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,7346,72
$CAP_FILE_SIZE,23851,13
$CFSIZE,1024409600,1016496128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,080707,5715.632,-16539.035,2,0.8,27,10.8,1.3,90.0,10,4.9