version: 66.12
glider: 401
mission: 20
dive: 49
start: 4 29 117 10 42 20
data:
$ID,401
$MISSION,20
$DIVE,49
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,290417,102426,5714.4766,-16535.4160,5,0.9,20,10.8,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-0.9
$GPS2,290417,102426,5714.4766,-16535.4160,5,0.9,20,10.8,0.0,0.0,9,4.9
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5710.961,-16516.576
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.349050,0.067746
$KALMAN_X,-3728.106689,810.414917,1291.266113,11635.627930,32.448303
$KALMAN_Y,3603.440674,719.796204,58.779778,-4568.225586,-214.371826
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.78,-391.0,2349,2035,2358,4094,0.0,0.0,0,35,0.00,0.00,-2.42,0.000,16390,0.000,0.000,2349,2035,2636,2636,4095,0,0,0,0,0,0,26.09,24.60,26.07,10.06,35.31
$GC,37,-1.78,-391.0,2349,2035,2637,4094,0.5,0.0,1,55,5.50,0.00,0.00,0.000,4102,0.149,0.000,1844,2035,2637,2637,4094,0,0,0,0,0,0,25.46,25.50,25.48,10.12,35.39
$GC,118,-1.78,-391.0,1843,2035,2638,4094,9.8,-11.0,7,136,0.00,3.45,0.00,0.000,260,0.000,0.276,1843,3212,2639,2639,4095,0,0,0,0,0,0,25.86,25.44,25.88,10.12,34.99
$GC,153,-1.78,-391.0,1843,3212,2639,4095,14.0,-11.7,9,168,0.00,3.17,0.00,0.000,1030,0.000,0.129,1844,2024,2639,2639,4095,0,0,0,0,0,0,25.66,25.62,25.70,10.12,35.74
$GC,231,-1.78,-391.0,1843,2024,2641,4095,23.9,-12.4,15,249,0.00,3.38,0.00,0.000,516,0.000,0.258,1844,828,2641,2641,4094,0,0,0,0,0,0,26.01,25.60,26.02,10.11,34.68
$GC,277,-1.78,-391.0,1843,829,2642,4095,29.8,-12.7,18,295,0.00,3.08,0.00,0.000,1030,0.000,0.139,1843,1995,2642,2642,4095,0,0,0,0,0,0,25.77,25.72,25.82,10.11,34.72
$GC,359,-1.78,-391.0,1843,1996,2644,4094,39.8,-11.7,24,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1995,2644,2644,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.11,34.40
$GC,436,-1.78,-391.0,1843,1995,2646,4094,49.0,-11.8,30,456,0.00,3.28,0.00,0.000,516,0.000,0.246,1844,826,2646,2646,4094,0,0,1,0,0,0,26.17,25.77,26.19,10.10,35.11
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,490,-0.45,0.0,1844,2032,2647,4094,55.2,-12.8,33,535,4.65,0.00,24.05,4.216,10244,0.236,0.000,2256,2032,2173,2173,4094,0,0,0,0,0,0,25.87,24.79,24.06,10.10,34.87
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,537,1.78,391.0,2256,2031,2173,4094,59.2,0.0,36,575,7.70,3.45,23.40,4.154,10756,0.154,0.246,2966,826,1717,1717,4094,0,0,0,0,0,0,25.33,25.24,23.68,10.01,34.48
$GC,603,1.78,391.0,2965,826,1717,4094,55.6,7.9,40,622,0.00,3.22,0.00,0.000,1030,0.000,0.132,2966,2024,1717,1717,4094,0,0,0,0,0,0,25.13,25.08,25.16,9.93,33.77
$GC,685,1.78,391.0,2965,2024,1714,4094,44.4,14.0,46,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2024,1714,1714,4094,0,0,0,0,0,0,25.65,25.67,25.66,9.92,34.09
$GC,765,1.78,391.0,2965,2024,1712,4094,33.0,14.3,52,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2024,1711,1711,4094,0,0,0,0,0,0,25.82,25.83,25.83,9.92,34.68
$GC,846,1.78,391.0,2965,2024,1710,4094,22.1,13.4,58,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2024,1710,1710,4094,0,0,0,0,0,0,25.93,25.95,25.94,9.92,34.48
$GC,927,1.78,391.0,2965,2024,1707,4094,11.0,13.9,64,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2024,1707,1707,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.92,34.24
$STATE,994,end climb,SURFACE_DEPTH_REACHED
$STATE,995,begin surface coast
$FINISH,0.2,1.025171
$STATE,1022,end surface coast,CONTROL_FINISHED_OK
$STATE,1022,begin surface
$SM_CCo,1118,0.00,0.000,0,0,1705,403.54
$SM_GC,1.03,29.10,0.00,0.00,0.109,0.000,0.000,232,2026,1705,-6.81,0.09,403.54,0,0,0,0,0,0,25.50,26.13,25.76
$IRIDIUM_FIX,5744.64,-16600.79,290417,093825
$TT8_MAMPS,0.026215,0.250166
$HUMID,35.15
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,10.1
$24V_AH,23.68,8.432
$10V_AH,8.89,8.363
$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,46.950,26.200,47.450,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,256.762,60.571,142.523,691.124,19.756,33.403,399.815,0.000,703.419,0.000,5.441,0.000
$DEVICE_MAMPS,235.885,275.613,4216.134,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.480,91.079,152.703,398.963,679.884,0.000,0.000,0.000,0.000,0.000
$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,7338,71
$CAP_FILE_SIZE,21400,14
$CFSIZE,1024409600,1016102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,290417,110202,5714.051,-16534.719,2,0.9,32,10.8,0.0,0.0,9,4.8