version: 66.12
glider: 401
mission: 20
dive: 40
start: 4 29 117 7 30 22
data:
$ID,401
$MISSION,20
$DIVE,40
$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,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,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
$GPS1,290417,072202,5715.7637,-16540.5449,2,0.8,16,10.7,0.0,0.0,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-42.9
$GPS2,290417,072922,5715.7891,-16540.3906,5,0.8,36,10.8,0.0,0.0,10,5.0
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5712.273,-16521.539
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.223824,-0.276264
$KALMAN_X,-4016.841797,-376.429047,594.770996,8795.418945,369.733307
$KALMAN_Y,3835.660645,1132.552612,838.586670,-3562.293457,87.888794
$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,-391.0,232,2032,1704,4094,0.0,0.0,0,36,0.00,0.00,-8.38,0.000,16390,0.000,0.000,232,2033,2633,2633,4094,0,0,0,0,0,0,26.04,25.18,26.06,9.94,35.62
$GC,38,-1.78,-391.0,231,2033,2634,4095,0.8,0.0,1,75,20.35,3.47,0.00,0.000,2308,0.417,0.278,1831,3215,2636,2636,4094,0,0,0,0,0,0,25.38,25.32,25.44,10.13,36.37
$GC,91,-1.78,-391.0,1830,3215,2637,4094,18.4,-31.6,4,110,0.00,3.20,0.00,0.000,1030,0.000,0.129,1831,2024,2637,2637,4094,0,0,0,0,0,0,25.57,25.52,25.60,10.13,35.46
$GC,173,-1.78,-391.0,1830,2024,2639,4094,29.3,-12.9,10,191,0.00,3.40,0.00,0.000,516,0.000,0.261,1831,825,2639,2639,4094,0,0,0,0,0,0,25.96,25.53,25.96,10.12,35.35
$GC,219,-1.78,-391.0,1830,825,2640,4095,35.6,-13.4,13,238,0.00,3.12,0.00,0.000,1030,0.000,0.139,1831,2008,2641,2641,4095,0,0,0,0,0,0,25.73,25.68,25.77,10.12,34.48
$GC,302,-1.78,-391.0,1830,2008,2642,4094,46.4,-12.8,19,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2008,2642,2642,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.12,34.80
$STATE,371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,372,begin apogee
$GC,375,-0.45,0.0,1831,2041,2644,4094,55.4,-12.7,24,409,4.80,0.00,23.85,4.181,10244,0.228,0.000,2258,2042,2173,2173,4094,0,0,0,0,0,0,25.82,25.03,23.97,10.12,34.95
$STATE,410,end apogee,CONTROL_FINISHED_OK
$STATE,410,begin climb
$GC,411,1.78,391.0,2258,2042,2173,4094,58.4,0.0,26,448,7.70,0.00,23.30,4.092,11270,0.139,0.000,2962,2042,1717,1717,4095,0,0,0,0,0,0,25.30,25.48,23.63,10.02,34.36
$GC,512,1.78,391.0,2961,2042,1715,4094,48.8,14.0,33,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2042,1715,1715,4094,0,0,0,0,0,0,25.51,25.52,25.52,9.93,34.20
$GC,592,1.78,391.0,2961,2042,1714,4094,37.4,14.3,39,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2042,1713,1713,4094,0,0,0,0,0,0,25.73,25.75,25.74,9.93,34.20
$GC,673,1.78,391.0,2961,2042,1711,4094,26.0,14.2,45,691,0.00,3.35,0.00,0.000,260,0.000,0.253,2962,3206,1710,1710,4094,0,0,0,0,0,0,25.86,25.45,25.88,9.93,34.60
$GC,707,1.78,391.0,2962,3206,1710,4094,21.1,14.1,47,726,0.00,3.17,0.00,0.000,1030,0.000,0.122,2962,2016,1709,1709,4094,0,0,0,0,0,0,25.65,25.60,25.68,9.93,34.09
$GC,789,1.78,391.0,2962,2016,1706,4094,8.8,14.5,53,807,0.00,3.38,0.00,0.000,516,0.000,0.268,2962,827,1706,1706,4094,0,0,0,0,0,0,26.01,25.58,26.02,9.93,34.13
$GC,824,1.78,391.0,2962,827,1706,4094,4.1,14.0,55,842,0.00,3.08,0.00,0.000,1030,0.000,0.132,2962,2006,1705,1705,4094,0,0,0,0,0,0,25.77,25.72,25.80,9.92,34.52
$STATE,856,end climb,FINISH_DEPTH_REACHED
$STATE,856,begin subsurface finish
$FINISH1,0.3,1.025146,-150
$GC,860,-0.24,-150.2,2962,2004,1705,4094,0.3,12.7,57,893,6.57,3.67,-6.07,0.000,20740,0.114,4.236,2337,3207,2354,2354,4094,0,0,1,0,0,0,25.83,24.40,25.86,9.94,34.13
$FINISH2,0.1
$STATE,894,end subsurface finish,CONTROL_FINISHED_OK
$STATE,894,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,063953
$TT8_MAMPS,0.026215,0.24717
$HUMID,34.36
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,9.6
$24V_AH,23.63,7.849
$10V_AH,8.92,8.119
$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,39.425,29.875,47.150,0.000,0.000,56.908,29.872,194.042,0.500,0.000,37.255,229.777,59.596,121.702,916.187,30.663,33.439,383.841,0.000,596.451,0.000,7.566,0.000
$DEVICE_MAMPS,417.144,4235.998,4181.372,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,39.858,75.528,126.907,338.596,572.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3906,59
$CAP_FILE_SIZE,25516,17
$CFSIZE,1024409600,1016545280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,072922,5715.789,-16540.391,5,0.8,36,10.8,0.0,0.0,10,5.0