version: 66.12
glider: 401
mission: 20
dive: 54
start: 4 29 117 12 32 21
data:
$ID,401
$MISSION,20
$DIVE,54
$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,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
$GPS1,290417,122602,5713.2949,-16533.8633,2,0.8,21,10.8,2.0,175.5,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-42.6
$GPS2,290417,123121,5713.2866,-16533.9082,5,0.9,36,10.8,1.1,104.9,10,5.0
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5709.771,-16515.078
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.288540,0.207733
$KALMAN_X,-3886.455811,1013.890747,1107.582520,13276.608398,-146.633118
$KALMAN_Y,1985.408813,84.721718,-538.807068,-3909.534668,-281.367188
$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,-391.0,243,2018,1708,4094,0.0,0.0,0,33,0.00,0.00,-8.35,0.000,16390,0.000,0.000,243,2018,2634,2634,4094,0,0,0,0,0,0,26.04,25.20,26.06,9.93,35.74
$GC,34,-1.78,-391.0,243,2018,2634,4095,0.9,0.0,1,64,20.35,3.50,0.00,0.000,2308,0.420,0.283,1834,3220,2636,2636,4094,0,0,0,0,0,0,25.46,25.39,25.53,10.12,36.33
$GC,91,-1.78,-391.0,1834,3220,2636,4094,16.3,-27.5,5,105,0.00,3.20,0.00,0.000,1030,0.000,0.129,1834,2026,2637,2637,4094,0,0,0,0,0,0,25.64,25.59,25.67,10.12,35.86
$GC,167,-1.78,-391.0,1834,2026,2638,4094,26.5,-13.4,11,182,0.00,3.38,0.00,0.000,516,0.000,0.258,1834,830,2639,2639,4094,0,0,0,0,0,0,26.00,25.59,26.01,10.11,35.03
$GC,234,-1.78,-391.0,1834,830,2640,4094,35.9,-14.5,16,248,0.00,3.08,0.00,0.000,1030,0.000,0.139,1834,1999,2641,2641,4094,0,0,0,0,0,0,25.80,25.73,25.83,10.11,35.11
$GC,310,-1.78,-391.0,1834,1999,2642,4094,45.7,-12.5,22,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1999,2642,2642,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.11,34.44
$STATE,391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,392,begin apogee
$GC,395,-0.45,0.0,1834,2033,2645,4094,56.2,-12.5,28,429,4.70,0.00,23.80,4.214,10244,0.228,0.000,2253,2033,2174,2174,4094,0,0,0,0,0,0,25.86,25.08,24.00,10.11,35.39
$STATE,430,end apogee,CONTROL_FINISHED_OK
$STATE,430,begin climb
$GC,431,1.78,391.0,2253,2033,2174,4094,59.0,0.0,30,465,7.75,0.00,23.35,4.132,11270,0.144,0.000,2962,2033,1718,1718,4094,0,0,0,0,0,0,25.34,25.53,23.64,10.01,34.60
$GC,527,1.78,391.0,2962,2033,1717,4094,50.9,12.7,37,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2033,1716,1716,4094,0,0,0,0,0,0,25.50,25.51,25.51,9.92,34.17
$GC,606,1.78,391.0,2961,2033,1714,4094,39.3,14.7,43,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2033,1714,1714,4094,0,0,0,0,0,0,25.72,25.74,25.74,9.92,34.20
$GC,683,1.78,391.0,2961,2033,1712,4094,28.5,14.0,49,698,0.00,3.45,0.00,0.000,516,0.000,0.253,2962,826,1711,1711,4094,0,0,0,0,0,0,25.86,25.46,25.87,9.92,35.11
$GC,738,1.78,391.0,2961,826,1710,4094,21.2,13.3,53,753,0.00,3.12,0.00,0.000,1030,0.000,0.129,2962,2015,1710,1710,4094,0,0,0,0,0,0,25.67,25.63,25.70,9.92,34.64
$GC,815,1.78,391.0,2962,2015,1708,4094,10.8,13.4,59,829,0.00,3.45,0.00,0.000,260,0.000,0.261,2962,3215,1707,1707,4095,0,0,0,0,0,0,26.01,25.57,26.02,9.93,34.24
$STATE,868,end climb,FINISH_DEPTH_REACHED
$STATE,868,begin subsurface finish
$FINISH1,2.8,1.025161,-151
$GC,876,-0.24,-151.3,2962,2022,1706,4094,2.8,14.7,63,892,6.53,0.00,-5.85,0.000,20486,0.134,0.000,2351,2020,2357,2357,4094,0,0,0,0,0,0,25.82,24.65,25.84,9.93,34.76
$FINISH2,0.2
$STATE,893,end subsurface finish,CONTROL_FINISHED_OK
$STATE,893,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,114522
$TT8_MAMPS,0.026215,0.258405
$HUMID,35.39
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,9.6
$24V_AH,23.64,8.762
$10V_AH,8.89,8.497
$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,39.325,26.400,47.150,0.000,0.000,19.667,27.186,168.162,0.500,0.000,37.222,242.888,0.000,84.768,879.323,29.277,33.458,315.695,0.000,621.664,0.000,7.327,0.000
$DEVICE_MAMPS,419.627,702.689,4213.651,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.690,82.078,137.639,344.070,596.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,3967,64
$CAP_FILE_SIZE,23295,3
$CFSIZE,1024409600,1015857152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,123121,5713.287,-16533.908,5,0.9,36,10.8,1.1,104.9,10,5.0