version: 66.12
glider: 401
mission: 20
dive: 45
start: 4 29 117 9 17 58
data:
$ID,401
$MISSION,20
$DIVE,45
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,290417,085954,5715.3403,-16537.5000,5,0.8,15,10.8,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-0.1
$GPS2,290417,085954,5715.3403,-16537.5000,5,0.8,15,10.8,0.0,0.0,10,4.7
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5711.825,-16518.652
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.339431,-0.105826
$KALMAN_X,-3803.052734,369.910614,1158.397583,10199.904297,149.266022
$KALMAN_Y,4330.808105,1104.104248,537.578674,-4560.499512,-63.537750
$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,-391.0,2350,2019,2354,4094,0.0,0.0,0,33,0.00,0.00,-2.78,0.000,16390,0.000,0.000,2351,2019,2636,2636,4094,0,0,0,0,0,0,25.91,24.49,25.89,10.06,35.43
$GC,35,-1.78,-391.0,2350,2019,2635,4095,0.1,0.0,1,49,5.45,0.00,0.00,0.000,4102,0.176,0.000,1861,2019,2636,2636,4094,0,0,0,0,0,0,25.35,25.44,25.39,10.12,34.99
$GC,111,-1.78,-391.0,1860,2019,2637,4095,7.2,-10.4,7,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2019,2637,2637,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.12,34.91
$GC,188,-1.78,-391.0,1860,2019,2638,4094,16.2,-11.9,13,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2020,2639,2639,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.12,34.99
$GC,265,-1.78,-391.0,1860,2019,2641,4094,25.1,-11.6,19,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2019,2641,2641,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.11,34.68
$GC,342,-1.78,-391.0,1860,2019,2642,4094,33.8,-11.0,25,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2019,2642,2642,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.11,34.64
$GC,422,-1.78,-391.0,1860,2019,2644,4094,42.9,-11.2,31,441,0.00,3.35,0.00,0.000,516,0.000,0.253,1860,828,2644,2644,4094,0,0,0,0,0,0,26.15,25.73,26.16,10.11,35.46
$GC,483,-1.78,-391.0,1860,828,2645,4095,50.0,-12.2,35,501,0.00,3.12,0.00,0.000,1030,0.000,0.139,1860,2020,2645,2645,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.11,34.56
$STATE,526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,526,begin apogee
$GC,529,-0.45,0.0,1860,2020,2646,4095,55.8,-12.3,38,562,4.47,0.00,23.83,4.184,10246,0.231,0.000,2258,2020,2174,2174,4094,0,0,0,0,0,0,25.88,25.10,24.06,10.11,34.80
$STATE,563,end apogee,CONTROL_FINISHED_OK
$STATE,564,begin climb
$GC,565,1.78,391.0,2258,2020,2174,4094,58.2,0.0,40,602,7.68,0.00,23.25,4.109,10246,0.144,0.000,2962,2021,1718,1718,4094,0,0,0,0,0,0,25.36,24.65,23.68,10.01,34.20
$GC,665,1.78,391.0,2962,2020,1716,4094,50.0,12.9,47,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2021,1716,1716,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.92,33.85
$GC,742,1.78,391.0,2962,2020,1714,4094,39.2,14.2,53,760,0.00,3.40,0.00,0.000,516,0.000,0.251,2962,829,1713,1713,4094,0,0,1,0,0,0,25.72,25.35,25.74,9.92,33.93
$GC,787,1.78,391.0,2962,829,1712,4094,32.4,14.7,56,805,0.00,3.15,0.00,0.000,1030,0.000,0.132,2962,2021,1712,1712,4094,0,0,0,0,0,0,25.56,25.51,25.59,9.92,34.17
$GC,869,1.78,391.0,2962,2021,1710,4094,21.2,13.9,62,887,0.00,3.47,0.00,0.000,260,0.000,0.263,2962,3224,1709,1709,4094,0,0,0,0,0,0,25.92,25.49,25.94,9.93,34.24
$GC,927,1.78,391.0,2962,3224,1708,4094,12.4,15.3,66,942,0.00,3.17,0.00,0.000,1030,0.000,0.124,2962,2030,1707,1707,4094,0,0,0,0,0,0,25.72,25.67,25.75,9.92,33.97
$STATE,1003,end climb,SURFACE_DEPTH_REACHED
$STATE,1003,begin surface coast
$FINISH,0.1,1.021388
$STATE,1031,end surface coast,CONTROL_FINISHED_OK
$STATE,1031,begin surface
$SM_CCo,1126,0.00,0.000,0,0,1705,403.54
$SM_GC,1.12,29.00,0.00,0.00,0.104,0.000,0.000,232,2025,1705,-6.81,0.00,403.54,0,0,0,0,0,0,25.48,26.10,25.74
$IRIDIUM_FIX,5744.64,-16600.79,290417,081304
$TT8_MAMPS,0.026964,0.257656
$HUMID,34.44
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,9.9
$24V_AH,23.68,8.175
$10V_AH,8.92,8.256
$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,46.600,22.875,47.075,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,264.253,60.061,127.620,710.166,19.098,33.408,370.447,0.000,722.847,0.000,5.450,0.000
$DEVICE_MAMPS,230.919,263.198,4183.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.777,95.018,159.163,403.903,698.425,0.000,0.000,0.000,0.000,0.000
$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,7453,74
$CAP_FILE_SIZE,20993,9
$CFSIZE,1024409600,1016299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,093730,5714.965,-16536.393,2,0.9,14,10.8,0.5,113.6,9,4.9