version: 66.12
glider: 401
mission: 20
dive: 28
start: 4 29 117 3 4 8
data:
$ID,401
$MISSION,20
$DIVE,28
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$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,20
$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,45
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,290417,025830,5714.1997,-16546.3984,2,1.0,24,10.7,0.9,204.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-49.1
$GPS2,290417,030305,5714.2456,-16546.4336,5,1.0,16,10.7,0.0,227.0,9,4.8
$SPEED_LIMITS,0.102,0.315
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.245618,-0.197265
$KALMAN_X,-5207.973633,-1331.866577,-925.965637,6429.980469,-94.836182
$KALMAN_Y,-310.269104,47.229889,-26.886600,-328.413940,168.581757
$MHEAD_RNG_PITCHd_Wd,138.8,97263,-14.8,-10.185,-17.92,4340
$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,-1.82,-293.3,243,2021,1818,4094,0.0,0.0,0,34,0.00,0.00,-6.20,0.000,16390,0.000,0.000,243,2022,2518,2518,4094,0,0,0,0,0,0,26.07,25.18,26.08,9.96,35.43
$GC,35,-1.82,-293.3,243,2021,2519,4095,1.1,0.0,1,65,20.38,0.00,0.00,0.000,2566,0.430,0.000,1817,2014,2521,2521,4094,0,0,0,0,0,0,25.36,25.51,25.46,10.12,35.98
$GC,129,-1.82,-293.3,1816,2014,2521,4094,21.5,-14.3,8,144,0.00,3.35,0.00,0.000,516,0.000,0.256,1817,836,2523,2523,4094,0,0,0,0,0,0,25.94,25.53,25.94,10.11,35.11
$GC,183,-1.82,-293.3,1816,835,2524,4094,29.5,-14.8,12,198,0.00,3.10,0.00,0.000,1030,0.000,0.139,1817,2012,2525,2525,4094,0,0,0,0,0,0,25.72,25.67,25.75,10.10,34.44
$GC,263,-1.82,-293.3,1816,2011,2526,4094,40.2,-12.8,18,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2011,2526,2526,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.10,34.28
$GC,345,-1.82,-293.3,1816,2011,2528,4094,50.9,-13.7,24,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2011,2529,2529,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.10,34.17
$STATE,375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,375,begin apogee
$GC,378,-0.45,0.0,1817,2011,2529,4094,55.7,-15.0,26,407,4.97,0.00,18.60,4.114,10244,0.246,0.000,2253,2011,2174,2174,4094,0,0,0,0,0,0,25.80,25.17,24.08,10.10,33.89
$STATE,408,end apogee,CONTROL_FINISHED_OK
$STATE,408,begin climb
$GC,409,1.82,293.3,2253,2010,2174,4094,58.9,0.0,28,440,7.90,0.00,18.17,4.077,11270,0.144,0.000,2977,2012,1831,1831,4094,0,0,0,0,0,0,25.46,25.63,23.76,10.02,34.56
$GC,505,1.82,293.3,2976,2012,1830,4094,52.2,11.2,35,523,0.00,3.53,0.00,0.000,260,0.000,0.261,2977,3220,1829,1829,4094,0,0,0,0,0,0,25.62,25.20,25.63,9.96,33.65
$GC,552,1.82,293.3,2977,3220,1829,4095,45.3,14.1,38,567,0.00,3.15,0.00,0.000,1030,0.000,0.119,2977,2042,1828,1828,4094,0,0,0,0,0,0,25.49,25.44,25.52,9.95,33.77
$GC,630,1.82,293.3,2976,2042,1826,4094,33.8,14.5,44,645,0.00,3.45,0.00,0.000,516,0.000,0.263,2977,830,1826,1826,4094,0,0,0,0,0,0,25.88,25.46,25.89,9.95,33.77
$GC,696,1.82,293.3,2976,830,1824,4094,24.5,14.1,49,711,0.00,3.10,0.00,0.000,1030,0.000,0.134,2977,2011,1824,1824,4094,0,0,0,0,0,0,25.71,25.65,25.73,9.95,34.60
$GC,774,1.82,293.3,2976,2011,1822,4094,13.6,13.5,55,789,0.00,3.47,0.00,0.000,260,0.000,0.258,2977,3225,1821,1821,4094,0,0,0,0,0,0,26.05,25.59,26.06,9.95,33.89
$GC,841,1.82,293.3,2976,3224,1820,4094,3.9,14.9,60,855,0.00,3.20,0.00,0.000,1030,0.000,0.124,2977,2018,1819,1819,4094,0,0,0,0,0,0,25.83,25.77,25.86,9.96,34.40
$STATE,871,end climb,FINISH_DEPTH_REACHED
$STATE,871,begin subsurface finish
$FINISH1,0.1,1.025054,-144
$GC,875,-0.23,-143.8,2977,2018,1819,4094,0.1,13.8,62,891,6.55,0.00,-5.00,0.000,20486,0.122,0.000,2357,2018,2347,2347,4094,0,0,0,0,0,0,25.86,24.63,25.89,9.96,34.56
$FINISH2,0.1
$STATE,892,end subsurface finish,CONTROL_FINISHED_OK
$STATE,892,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,021758
$TT8_MAMPS,0.026215,0.260652
$HUMID,34.60
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,7.0
$24V_AH,23.76,7.038
$10V_AH,8.92,7.794
$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,39.800,26.350,36.775,0.000,0.000,24.185,18.213,157.917,0.750,0.000,17.764,252.618,0.000,83.675,830.211,26.760,33.432,322.389,0.000,615.070,0.000,8.919,0.000
$DEVICE_MAMPS,429.559,263.198,4114.331,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.853,80.736,135.493,341.765,589.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344604
$DATA_FILE_SIZE,7343,63
$CAP_FILE_SIZE,23742,1
$CFSIZE,1024409600,1017135104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,3.567,141.46,1
$GPS,290417,030305,5714.246,-16546.434,5,1.0,16,10.7,0.0,227.0,9,4.8