version: 66.12
glider: 401
mission: 20
dive: 46
start: 4 29 117 9 42 54
data:
$ID,401
$MISSION,20
$DIVE,46
$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,14
$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
$GPS1,290417,093730,5714.9653,-16536.3926,2,0.9,14,10.8,0.5,113.6,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-43.6
$GPS2,290417,094154,5714.9390,-16536.3516,4,0.8,15,10.8,0.0,0.0,10,4.8
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5711.423,-16517.508
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.353655,0.036741
$KALMAN_X,-3460.317871,560.216919,1319.216919,10632.927734,141.637085
$KALMAN_Y,4025.745850,985.461914,406.378937,-4734.736816,-220.406555
$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,-391.0,232,2024,1705,4094,0.0,0.0,0,33,0.00,0.00,-8.20,0.000,16390,0.000,0.000,232,2024,2634,2634,4095,0,0,0,0,0,0,26.03,25.18,26.04,9.93,35.46
$GC,34,-1.78,-391.0,232,2024,2635,4094,1.1,0.0,1,67,20.33,0.00,0.00,0.000,2054,0.420,0.000,1832,2021,2636,2636,4095,0,0,0,0,0,0,25.44,25.55,25.51,10.13,35.66
$GC,129,-1.78,-391.0,1831,2021,2639,4094,21.3,-13.6,8,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2021,2639,2639,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.12,35.98
$GC,211,-1.78,-391.0,1831,2021,2641,4094,31.9,-13.0,14,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2021,2640,2640,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.12,35.78
$GC,291,-1.78,-391.0,1831,2021,2642,4095,42.5,-13.0,20,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2021,2643,2643,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.11,35.15
$GC,372,-1.78,-391.0,1831,2021,2644,4094,52.6,-12.2,26,387,0.00,3.35,0.00,0.000,516,0.000,0.251,1832,829,2645,2645,4094,0,0,0,0,0,0,26.17,25.75,26.20,10.11,34.56
$STATE,401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,401,begin apogee
$GC,408,-0.45,0.0,1832,2030,2645,4095,56.5,-12.6,28,440,4.75,0.00,24.05,4.243,10246,0.228,0.000,2255,2031,2174,2174,4094,0,0,0,0,0,0,25.84,25.07,24.01,10.11,34.68
$STATE,441,end apogee,CONTROL_FINISHED_OK
$STATE,441,begin climb
$GC,442,1.78,391.0,2255,2031,2173,4094,60.1,0.0,30,479,7.68,0.00,23.25,4.149,10246,0.134,0.000,2962,2031,1718,1718,4094,0,0,0,0,0,0,25.34,24.63,23.63,10.02,34.13
$GC,542,1.78,391.0,2962,2031,1716,4094,51.3,13.1,37,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2031,1716,1716,4094,0,0,0,0,0,0,25.51,25.53,25.53,9.93,33.77
$GC,617,1.78,391.0,2962,2031,1714,4094,40.5,14.5,43,632,0.00,3.42,0.00,0.000,516,0.000,0.251,2962,830,1714,1714,4094,0,0,1,0,0,0,25.72,25.34,25.74,9.92,34.52
$GC,659,1.78,391.0,2962,830,1713,4094,34.4,14.5,46,677,0.00,3.15,0.00,0.000,1030,0.000,0.132,2962,2023,1712,1712,4094,0,0,0,0,0,0,25.56,25.50,25.58,9.93,33.93
$GC,740,1.78,391.0,2962,2023,1710,4094,23.3,13.7,52,754,0.00,3.45,0.00,0.000,260,0.000,0.266,2962,3216,1710,1710,4094,0,0,0,0,0,0,25.92,25.49,25.93,9.93,34.28
$GC,782,1.78,391.0,2962,3216,1709,4094,17.2,14.4,55,796,0.00,3.17,0.00,0.000,1030,0.000,0.122,2962,2023,1709,1709,4094,0,0,0,0,0,0,25.70,25.65,25.73,9.93,33.97
$GC,859,1.78,391.0,2962,2023,1707,4094,6.0,13.9,61,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2023,1706,1706,4094,0,0,0,0,0,0,26.04,26.06,26.06,9.93,34.48
$STATE,888,end climb,FINISH_DEPTH_REACHED
$STATE,888,begin subsurface finish
$FINISH1,1.9,1.025131,-149
$GC,892,-0.24,-149.2,2962,2019,1706,4094,1.9,14.0,63,908,6.65,0.00,-6.03,0.000,20486,0.184,0.000,2357,2020,2353,2353,4094,0,0,0,0,0,0,25.76,24.64,25.81,9.93,34.56
$FINISH2,0.5
$STATE,909,end subsurface finish,CONTROL_FINISHED_OK
$STATE,909,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,085557
$TT8_MAMPS,0.026215,0.257656
$HUMID,34.64
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,9.8
$24V_AH,23.63,8.245
$10V_AH,8.88,8.283
$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,39.400,19.725,47.300,0.000,0.000,23.229,17.743,149.195,0.500,0.000,17.039,241.861,0.000,97.114,829.349,28.854,33.463,343.074,0.000,625.246,0.000,7.330,0.000
$DEVICE_MAMPS,419.627,265.681,4243.447,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.553,82.031,137.644,345.060,600.616,0.000,0.000,0.000,0.000,0.000
$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,3922,64
$CAP_FILE_SIZE,23598,8
$CFSIZE,1024409600,1016250368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,290417,094154,5714.939,-16536.352,4,0.8,15,10.8,0.0,0.0,10,4.8