version: 66.12
glider: 401
mission: 20
dive: 42
start: 4 29 117 8 17 56
data:
$ID,401
$MISSION,20
$DIVE,42
$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,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
$GPS1,290417,080707,5715.6323,-16539.0352,2,0.8,27,10.8,1.3,90.0,10,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-43.1
$GPS2,290417,081656,5715.6328,-16538.8359,5,0.9,26,10.8,0.0,0.0,10,4.9
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5712.117,-16519.986
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.307746,-0.178108
$KALMAN_X,-3653.675293,-21.564224,927.949341,9302.888672,303.701630
$KALMAN_Y,4138.924316,1166.546631,768.528381,-4114.088867,-26.742981
$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,-391.0,232,2015,1704,4094,0.0,0.0,0,33,0.00,0.00,-8.43,0.000,16390,0.000,0.000,232,2016,2634,2634,4094,0,0,0,0,0,0,26.08,25.22,26.10,9.94,36.41
$GC,34,-1.78,-391.0,232,2016,2634,4094,0.8,0.0,1,67,20.40,3.53,0.00,0.000,2308,0.417,0.278,1832,3219,2637,2637,4095,0,0,0,0,0,0,25.48,25.44,25.56,10.13,35.86
$GC,83,-1.78,-391.0,1832,3219,2637,4095,15.0,-29.4,4,98,0.00,3.20,0.00,0.000,1030,0.000,0.129,1832,2022,2637,2637,4094,0,0,0,0,0,0,25.64,25.61,25.68,10.13,36.17
$GC,160,-1.78,-391.0,1832,2022,2639,4094,25.4,-12.7,10,175,0.00,3.38,0.00,0.000,516,0.000,0.256,1832,827,2639,2639,4094,0,0,0,0,0,0,26.03,25.60,26.03,10.13,35.82
$GC,202,-1.78,-391.0,1832,827,2641,4094,31.1,-13.3,13,217,0.00,3.12,0.00,0.000,1030,0.000,0.142,1832,2012,2641,2641,4094,0,0,0,0,0,0,25.77,25.72,25.86,10.12,35.46
$GC,279,-1.78,-391.0,1832,2012,2642,4094,41.3,-13.5,19,293,0.00,3.50,0.00,0.000,260,0.000,0.281,1832,3223,2642,2642,4094,0,0,0,0,0,0,26.13,25.68,26.15,10.12,34.72
$GC,309,-1.78,-391.0,1832,3223,2642,4094,45.2,-13.1,21,324,0.00,3.22,0.00,0.000,1030,0.000,0.139,1832,2013,2643,2643,4095,0,0,0,0,0,0,25.88,25.82,25.91,10.12,34.68
$STATE,391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,391,begin apogee
$GC,394,-0.45,0.0,1832,2013,2645,4094,56.4,-13.2,27,440,4.75,0.00,24.05,4.221,10244,0.228,0.000,2255,2013,2173,2173,4094,0,0,0,0,0,0,25.87,24.77,24.00,10.12,34.32
$STATE,441,end apogee,CONTROL_FINISHED_OK
$STATE,442,begin climb
$GC,443,1.78,391.0,2255,2013,2173,4094,59.6,0.0,30,481,7.62,3.53,23.25,4.157,10500,0.144,0.258,2964,3219,1718,1718,4094,0,0,0,0,0,0,25.32,25.22,23.65,10.02,34.48
$GC,520,1.79,400.8,2963,3219,1717,4094,54.0,10.0,35,536,0.00,3.25,2.42,0.809,9222,0.000,0.119,2964,2024,1706,1706,4094,0,0,0,0,0,0,25.22,25.15,23.97,9.93,34.01
$GC,599,1.79,400.8,2963,2024,1704,4094,42.4,14.5,41,617,0.00,3.42,0.00,0.000,516,0.000,0.261,2964,830,1704,1704,4094,0,0,0,0,0,0,25.68,25.29,25.70,9.93,34.01
$GC,632,1.79,400.8,2964,830,1703,4094,37.5,14.5,43,647,0.00,3.17,0.00,0.000,1030,0.000,0.134,2964,2028,1702,1702,4094,0,0,0,0,0,0,25.51,25.46,25.53,9.93,33.93
$GC,709,1.79,400.8,2964,2028,1701,4094,26.7,14.0,49,724,0.00,3.42,0.00,0.000,260,0.000,0.261,2964,3214,1701,1701,4094,0,0,0,0,0,0,25.88,25.46,25.89,9.93,33.89
$GC,764,1.79,400.8,2964,3213,1699,4094,18.3,15.2,53,782,0.00,3.17,0.00,0.000,1030,0.000,0.124,2964,2024,1699,1699,4095,0,0,0,0,0,0,25.67,25.63,25.72,9.93,34.13
$GC,845,1.79,400.8,2964,2024,1697,4094,6.8,13.5,59,864,0.00,3.40,0.00,0.000,516,0.000,0.263,2964,823,1696,1696,4094,0,0,0,0,0,0,26.03,25.61,26.05,9.92,34.48
$STATE,879,end climb,FINISH_DEPTH_REACHED
$STATE,879,begin subsurface finish
$FINISH1,1.7,1.025126,-149
$GC,887,-0.24,-148.8,2964,2020,1696,4094,1.7,14.3,61,904,6.47,0.00,-6.15,0.000,20486,0.119,0.000,2350,2020,2353,2353,4094,0,0,0,0,0,0,25.84,24.63,25.86,9.93,35.03
$FINISH2,0.1
$STATE,905,end subsurface finish,CONTROL_FINISHED_OK
$STATE,905,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,072438
$TT8_MAMPS,0.026215,0.259154
$HUMID,34.44
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,9.6
$24V_AH,23.65,7.985
$10V_AH,8.92,8.174
$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,39.250,46.500,49.725,0.000,0.000,123.327,34.336,155.381,0.500,0.000,28.093,244.535,178.496,106.555,957.345,31.326,33.436,371.223,0.000,608.765,0.000,7.323,0.000
$DEVICE_MAMPS,417.144,280.579,4221.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.885,79.370,133.344,338.465,584.332,0.000,0.000,0.000,0.000,0.000
$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,3911,62
$CAP_FILE_SIZE,28727,8
$CFSIZE,1024409600,1016446976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,290417,081656,5715.633,-16538.836,5,0.9,26,10.8,0.0,0.0,10,4.9