version: 66.12
glider: 401
mission: 20
dive: 44
start: 4 29 117 9 0 54
data:
$ID,401
$MISSION,20
$DIVE,44
$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,18
$R_STBD_OVSHOOT,15
$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
$GPS1,290417,085500,5715.3550,-16537.5762,2,0.9,36,10.8,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-42.7
$GPS2,290417,085954,5715.3403,-16537.5000,5,0.8,15,10.8,0.0,0.0,10,4.7
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5711.825,-16518.652
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.347157,-0.076791
$KALMAN_X,-3483.570801,285.588989,1164.051025,9932.358398,223.606201
$KALMAN_Y,4199.959961,1116.955688,620.034912,-4514.325195,-123.444214
$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,-391.0,231,2035,1705,4094,0.0,0.0,0,36,0.00,0.00,-8.50,0.000,16390,0.000,0.000,232,2035,2635,2635,4095,0,0,0,0,0,0,26.03,25.18,26.05,9.94,35.50
$GC,38,-1.78,-391.0,231,2035,2635,4094,0.8,0.0,1,74,20.42,0.00,0.00,0.000,2054,0.422,0.000,1831,2029,2638,2638,4094,0,0,0,0,0,0,25.37,25.49,25.45,10.12,35.66
$GC,137,-1.78,-391.0,1830,2029,2639,4094,23.9,-13.4,8,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2029,2640,2640,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.12,35.58
$GC,213,-1.78,-391.0,1831,2029,2641,4094,33.9,-13.1,14,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2029,2642,2642,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.11,35.11
$GC,289,-1.78,-391.0,1831,2029,2643,4094,43.4,-12.4,20,307,0.00,3.38,0.00,0.000,516,0.000,0.243,1831,830,2643,2643,4094,0,0,0,0,0,0,26.09,25.67,26.10,10.11,34.72
$GC,324,-1.78,-391.0,1831,830,2644,4095,47.8,-12.4,22,339,0.00,3.12,0.00,0.000,1030,0.000,0.137,1831,2021,2644,2644,4095,0,0,0,0,0,0,25.84,25.79,25.87,10.11,34.68
$STATE,381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,381,begin apogee
$GC,385,-0.45,0.0,1831,2021,2645,4094,55.7,-13.3,26,421,4.80,0.00,23.83,4.199,10246,0.231,0.000,2257,2021,2174,2174,4094,0,0,0,0,0,0,25.82,25.04,23.98,10.12,34.56
$STATE,422,end apogee,CONTROL_FINISHED_OK
$STATE,423,begin climb
$GC,424,1.78,391.0,2257,2021,2174,4094,58.8,0.0,28,474,7.68,0.00,23.42,4.117,10246,0.137,0.000,2963,2021,1717,1717,4094,0,0,0,0,0,0,25.33,24.62,23.63,10.01,34.36
$GC,537,1.78,391.0,2962,2021,1716,4094,48.1,14.0,36,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2021,1715,1715,4094,0,0,0,0,0,0,25.56,25.58,25.57,9.93,33.73
$GC,613,1.78,391.0,2962,2021,1714,4094,37.3,14.3,42,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2021,1713,1713,4094,0,0,0,0,0,0,25.75,25.77,25.76,9.93,33.85
$GC,693,1.78,391.0,2962,2021,1711,4095,26.8,13.0,48,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2021,1710,1710,4094,0,0,0,0,0,0,25.89,25.90,25.89,9.92,34.80
$GC,768,1.78,391.0,2962,2021,1709,4094,16.4,13.6,54,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2021,1709,1709,4094,0,0,0,0,0,0,25.98,25.99,25.99,9.93,34.44
$GC,844,1.78,391.0,2962,2021,1706,4094,6.2,13.6,60,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2021,1706,1706,4094,0,0,0,0,0,0,26.06,26.07,26.07,9.92,35.15
$STATE,877,end climb,FINISH_DEPTH_REACHED
$STATE,877,begin subsurface finish
$FINISH1,2.0,1.025125,-149
$GC,882,-0.24,-148.8,2963,2021,1706,4094,2.0,13.1,62,915,6.45,3.65,-6.10,0.000,20740,0.117,4.243,2351,3214,2354,2354,4094,0,0,0,0,0,0,25.85,24.41,25.86,9.93,34.32
$FINISH2,0.1
$STATE,916,end subsurface finish,CONTROL_FINISHED_OK
$STATE,916,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,081304
$TT8_MAMPS,0.026215,0.262899
$HUMID,34.44
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.9,9.7
$24V_AH,23.63,8.118
$10V_AH,8.88,8.229
$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,39.350,10.150,47.250,0.000,0.000,25.101,34.863,160.264,0.500,0.000,16.680,233.157,0.000,110.217,861.087,30.078,33.435,367.422,0.000,627.685,0.000,7.325,0.000
$DEVICE_MAMPS,422.110,4243.447,4198.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.450,82.000,137.643,348.974,603.506,0.000,0.000,0.000,0.000,0.000
$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,3891,64
$CAP_FILE_SIZE,22398,11
$CFSIZE,1024409600,1016348672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,085954,5715.340,-16537.500,5,0.8,15,10.8,0.0,0.0,10,4.7