version: 66.12
glider: 401
mission: 20
dive: 71
start: 4 29 117 18 45 7
data:
$ID,401
$MISSION,20
$DIVE,71
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$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,20
$T_MISSION,42
$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,450
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,17
$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,3
$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
$GPS1,290417,182619,5714.4014,-16529.4336,4,0.7,19,10.8,0.6,331.9,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,4.3
$GPS2,290417,182619,5714.4014,-16529.4336,4,0.7,19,10.8,0.6,331.9,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.886,-16510.594
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122764,-0.344283
$KALMAN_X,-3806.652832,1120.599609,540.688171,18146.908203,168.476746
$KALMAN_Y,5213.000488,546.074951,509.292114,-6593.065918,304.233826
$MHEAD_RNG_PITCHd_Wd,98.2,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$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,14,begin dive
$GC,15,-1.72,-439.9,2429,2036,2180,4094,0.0,0.0,0,33,0.00,0.00,-5.05,0.000,16390,0.000,0.000,2429,2036,2688,2688,4094,0,0,0,0,0,0,26.12,25.28,26.12,10.02,35.07
$GC,34,-1.72,-439.9,2429,2036,2688,4094,0.1,0.0,1,49,6.53,0.00,0.00,0.000,4102,0.266,0.000,1865,2036,2689,2689,4095,0,0,0,0,0,0,25.58,25.62,25.61,10.13,35.35
$GC,111,-1.72,-439.9,1865,2033,2690,4095,6.3,-8.6,7,126,0.00,4.10,0.00,0.000,516,0.000,0.273,1865,604,2690,2690,4094,0,0,0,0,0,0,25.96,25.53,25.97,10.13,35.58
$GC,141,-1.72,-439.9,1864,604,2691,4095,9.6,-10.8,9,156,0.00,3.78,0.00,0.000,1030,0.000,0.146,1865,2026,2691,2691,4094,0,0,0,0,0,0,25.73,25.67,25.75,10.13,35.70
$GC,218,-1.72,-439.9,1864,2026,2692,4094,18.9,-11.9,15,233,0.00,4.15,0.00,0.000,260,0.000,0.313,1865,3438,2692,2692,4094,0,0,0,0,0,0,26.06,25.60,26.08,10.12,34.76
$GC,261,-1.72,-439.9,1865,3438,2693,4094,24.2,-12.1,18,279,0.00,3.78,0.00,0.000,1030,0.000,0.134,1865,2018,2693,2693,4094,0,0,0,0,0,0,25.86,25.77,25.86,10.12,34.91
$GC,345,-1.72,-439.9,1864,2018,2694,4094,33.5,-10.5,24,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2018,2695,2695,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,35.46
$GC,423,-1.72,-439.9,1864,2018,2696,4094,42.0,-11.0,30,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2018,2696,2696,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.11,34.72
$GC,503,-1.72,-439.9,1864,2018,2697,4094,50.6,-11.3,36,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2018,2698,2698,4095,0,0,0,0,0,0,26.24,26.26,26.25,10.11,34.72
$STATE,566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,566,begin apogee
$GC,569,-0.45,0.0,1865,2018,2699,4095,58.5,-11.7,41,603,4.38,0.00,26.35,4.313,10244,0.228,0.000,2256,2018,2174,2174,4094,0,0,0,0,0,0,25.94,25.10,24.01,10.12,34.60
$STATE,604,end apogee,CONTROL_FINISHED_OK
$STATE,604,begin climb
$GC,605,1.72,439.9,2256,2018,2174,4094,61.0,0.0,43,643,7.55,0.00,26.08,4.221,11270,0.142,0.000,2946,2017,1660,1660,4095,0,0,0,0,0,0,25.35,25.53,23.61,10.01,34.44
$GC,705,1.72,439.9,2946,2017,1659,4094,52.3,12.4,50,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2017,1659,1659,4094,0,0,0,0,0,0,25.48,25.50,25.50,9.91,33.85
$GC,781,1.72,439.9,2945,2017,1657,4094,42.4,13.0,56,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2017,1657,1657,4094,0,0,0,0,0,0,25.70,25.72,25.72,9.91,34.76
$GC,857,1.72,439.9,2945,2017,1655,4094,32.2,13.3,62,871,0.00,4.15,0.00,0.000,260,0.000,0.278,2946,3430,1655,1655,4094,0,0,0,0,0,0,25.84,25.41,25.85,9.91,34.09
$GC,934,1.72,439.9,2946,3430,1652,4094,20.9,15.2,68,948,0.00,3.67,0.00,0.000,1030,0.000,0.124,2946,2051,1652,1652,4094,0,0,0,0,0,0,25.68,25.64,25.72,9.91,34.60
$GC,1010,1.72,439.9,2946,2051,1650,4094,10.2,13.7,74,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2051,1650,1650,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.91,34.64
$STATE,1075,end climb,SURFACE_DEPTH_REACHED
$STATE,1075,begin surface coast
$FINISH,0.3,1.025278
$STATE,1101,end surface coast,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$SM_CCo,1197,0.00,0.000,0,0,1648,452.48
$SM_GC,0.95,28.88,0.00,0.00,0.107,0.000,0.000,232,2047,1648,-6.81,1.00,452.48,0,0,0,0,0,0,25.53,26.12,25.77
$IRIDIUM_FIX,5744.64,-16600.79,290417,173918
$TT8_MAMPS,0.026215,0.256158
$HUMID,34.99
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,8.8
$24V_AH,23.61,9.968
$10V_AH,8.87,8.980
$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,47.325,23.625,52.425,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,282.477,60.490,117.353,770.173,20.148,33.414,369.730,0.000,783.081,0.000,5.449,0.000
$DEVICE_MAMPS,265.681,312.858,4312.971,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.637,104.014,174.167,436.438,757.850,0.000,0.000,0.000,0.000,0.000
$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,7367,81
$CAP_FILE_SIZE,21523,5
$CFSIZE,1024409600,1015021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,190556,5714.526,-16528.338,3,0.9,20,10.8,3.0,336.5,10,5.0