version: 66.12
glider: 401
mission: 20
dive: 53
start: 4 29 117 12 6 55
data:
$ID,401
$MISSION,20
$DIVE,53
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,290417,114923,5713.6191,-16534.2441,5,1.1,20,10.8,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.4
$GPS2,290417,114923,5713.6191,-16534.2441,5,1.1,20,10.8,0.0,0.0,9,4.9
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5710.104,-16515.410
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.336554,0.114710
$KALMAN_X,-3853.700439,995.098145,1126.083374,12911.509766,-45.565430
$KALMAN_Y,2419.181396,210.046478,-422.916809,-3978.832275,-233.564728
$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,15,-1.78,-391.0,2352,2029,2358,4094,0.0,0.0,0,32,0.00,0.00,-2.65,0.000,16390,0.000,0.000,2353,2031,2635,2635,4094,0,0,0,0,0,0,26.15,24.63,26.13,10.05,35.03
$GC,34,-1.78,-391.0,2353,2031,2634,4095,0.3,0.0,1,52,5.57,0.00,0.00,0.000,4102,0.186,0.000,1850,2031,2635,2635,4095,0,0,0,0,0,0,25.56,25.61,25.60,10.12,35.43
$GC,114,-1.78,-391.0,1849,2031,2636,4095,8.4,-10.8,7,129,0.00,3.45,0.00,0.000,260,0.000,0.281,1850,3216,2636,2636,4095,0,0,1,0,0,0,25.96,25.55,25.96,10.11,35.78
$GC,168,-1.78,-391.0,1849,3216,2637,4095,14.8,-12.0,11,182,0.00,3.15,0.00,0.000,1030,0.000,0.122,1850,2027,2637,2637,4095,0,0,0,0,0,0,25.76,25.72,25.79,10.12,35.23
$GC,245,-1.78,-391.0,1849,2028,2639,4095,24.0,-11.8,17,260,0.00,3.35,0.00,0.000,516,0.000,0.251,1850,832,2639,2639,4094,0,0,0,0,0,0,26.09,25.68,26.10,10.11,34.87
$GC,299,-1.78,-391.0,1848,832,2640,4094,30.8,-12.7,21,317,0.00,3.08,0.00,0.000,1030,0.000,0.142,1850,2004,2641,2641,4094,0,0,0,0,0,0,25.84,25.80,25.89,10.11,34.76
$GC,381,-1.78,-391.0,1849,2003,2642,4095,40.9,-11.8,27,395,0.00,3.28,0.00,0.000,516,0.000,0.248,1850,831,2642,2642,4095,0,0,1,0,0,0,26.19,25.77,26.20,10.11,35.03
$GC,411,-1.78,-391.0,1849,831,2643,4094,44.6,-12.0,29,429,0.00,3.03,0.00,0.000,1030,0.000,0.137,1850,1990,2643,2643,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.10,34.52
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,498,-0.45,0.0,1849,2045,2645,4094,55.1,-11.8,35,535,4.60,0.00,23.40,4.181,10244,0.231,0.000,2259,2045,2173,2173,4094,0,0,0,0,0,0,25.91,25.15,24.08,10.11,34.40
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,537,1.78,391.0,2259,2046,2174,4094,57.9,0.0,37,580,7.68,0.00,23.35,4.099,11270,0.144,0.000,2962,2045,1720,1720,4094,0,0,0,0,0,0,25.41,25.61,23.72,10.01,35.19
$GC,643,1.78,391.0,2961,2045,1718,4094,48.4,13.3,45,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2045,1718,1718,4094,0,0,0,0,0,0,25.56,25.58,25.58,9.92,34.44
$GC,719,1.78,391.0,2962,2045,1717,4094,37.8,13.9,51,734,0.00,3.47,0.00,0.000,516,0.000,0.251,2962,827,1716,1716,4094,0,0,1,0,0,0,25.75,25.37,25.77,9.92,33.97
$GC,785,1.78,391.0,2962,828,1714,4094,28.6,13.8,56,800,0.00,3.08,0.00,0.000,1030,0.000,0.132,2962,1996,1714,1714,4094,0,0,0,0,0,0,25.60,25.57,25.65,9.92,34.01
$GC,862,1.78,391.0,2962,1996,1712,4094,18.2,13.8,62,880,0.00,3.53,0.00,0.000,260,0.000,0.263,2962,3219,1712,1712,4094,0,0,0,0,0,0,25.96,25.54,25.97,9.92,34.36
$GC,907,1.78,391.0,2962,3219,1711,4094,11.3,14.9,65,922,0.00,3.17,0.00,0.000,1030,0.000,0.119,2963,2021,1710,1710,4094,0,0,0,0,0,0,25.75,25.70,25.77,9.92,34.44
$STATE,972,end climb,SURFACE_DEPTH_REACHED
$STATE,972,begin surface coast
$FINISH,0.1,1.025151
$STATE,999,end surface coast,CONTROL_FINISHED_OK
$STATE,999,begin surface
$SM_CCo,1094,0.00,0.000,0,0,1708,400.97
$SM_GC,1.04,28.90,0.00,0.00,0.107,0.000,0.000,243,2017,1708,-6.77,-0.36,400.97,0,0,0,0,0,0,25.80,26.10,25.86
$IRIDIUM_FIX,5744.64,-16600.79,290417,110313
$TT8_MAMPS,0.026215,0.24717
$HUMID,35.19
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,9.6
$24V_AH,23.72,8.690
$10V_AH,8.90,8.469
$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,46.750,32.675,46.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,262.412,59.678,120.355,685.436,18.560,33.408,367.495,0.000,697.951,0.000,5.444,0.000
$DEVICE_MAMPS,230.919,347.620,4181.372,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.186,92.377,154.841,388.470,673.242,0.000,0.000,0.000,0.000,0.000
$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,7368,72
$CAP_FILE_SIZE,21750,6
$CFSIZE,1024409600,1015906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,290417,122602,5713.295,-16533.863,2,0.8,21,10.8,2.0,175.5,11,4.7