version: 66.12
glider: 401
mission: 20
dive: 50
start: 4 29 117 11 7 56
data:
$ID,401
$MISSION,20
$DIVE,50
$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,18
$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
$GPS1,290417,110202,5714.0513,-16534.7188,2,0.9,32,10.8,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-42.5
$GPS2,290417,110655,5714.0200,-16534.7285,5,0.9,15,10.8,0.7,160.3,9,4.8
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,5710.504,-16515.893
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.271645,0.229408
$KALMAN_X,-3608.979004,905.536743,1346.513184,12041.906250,-30.310425
$KALMAN_Y,3091.931152,563.009949,-100.581223,-4570.874512,-338.670593
$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,-391.0,232,2032,1705,4094,0.0,0.0,0,36,0.00,0.00,-8.48,0.000,16390,0.000,0.000,232,2031,2634,2634,4095,0,0,0,0,0,0,26.03,25.19,26.05,9.93,35.70
$GC,38,-1.78,-391.0,232,2031,2634,4094,0.9,0.0,1,74,20.35,0.00,0.00,0.000,2054,0.417,0.000,1832,2024,2636,2636,4095,0,0,0,0,0,0,25.38,25.50,25.45,10.12,35.78
$GC,137,-1.78,-391.0,1832,2024,2638,4094,23.8,-13.6,8,155,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2024,2639,2639,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.12,35.58
$GC,218,-1.78,-391.0,1831,2024,2641,4095,34.4,-13.4,14,233,0.00,3.38,0.00,0.000,516,0.000,0.243,1832,829,2641,2641,4094,0,0,0,0,0,0,26.01,25.60,26.03,10.11,34.76
$GC,271,-1.78,-391.0,1832,829,2642,4094,41.7,-13.6,18,290,0.00,3.12,0.00,0.000,1030,0.000,0.139,1832,2017,2642,2642,4094,0,0,0,0,0,0,25.80,25.75,25.84,10.11,34.68
$GC,355,-1.78,-391.0,1831,2017,2643,4095,52.4,-12.8,24,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2017,2644,2644,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.11,35.23
$STATE,391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,391,begin apogee
$GC,394,-0.45,0.0,1832,2017,2645,4094,56.6,-12.7,26,427,4.75,0.00,23.90,4.251,10244,0.228,0.000,2254,2017,2173,2173,4094,0,0,0,0,0,0,25.82,25.04,23.96,10.11,34.48
$STATE,428,end apogee,CONTROL_FINISHED_OK
$STATE,428,begin climb
$GC,430,1.78,391.0,2254,2017,2174,4094,60.1,0.0,28,468,7.65,3.50,23.50,4.171,10500,0.142,0.266,2965,3215,1718,1718,4094,0,0,0,0,0,0,25.22,25.15,23.62,10.01,34.40
$GC,483,1.78,391.0,2965,3215,1718,4094,57.5,7.9,31,498,0.00,3.25,0.00,0.000,1030,0.000,0.119,2965,2027,1717,1717,4094,0,0,0,0,0,0,25.03,24.98,25.05,9.93,33.73
$GC,560,1.78,391.0,2965,2027,1715,4094,47.1,13.6,37,578,0.00,3.45,0.00,0.000,516,0.000,0.263,2965,829,1714,1714,4094,0,0,0,0,0,0,25.59,25.21,25.60,9.92,34.64
$GC,618,1.78,391.0,2965,829,1714,4094,38.3,15.3,41,633,0.00,3.12,0.00,0.000,1030,0.000,0.134,2965,2007,1713,1713,4094,0,0,0,0,0,0,25.48,25.43,25.51,9.92,34.32
$GC,695,1.78,391.0,2964,2007,1711,4094,27.3,13.7,47,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2007,1711,1711,4094,0,0,0,0,0,0,25.86,25.87,25.86,9.92,34.17
$GC,771,1.78,391.0,2965,2007,1709,4094,16.8,13.9,53,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2007,1708,1708,4094,0,0,0,0,0,0,25.96,25.97,25.97,9.92,34.24
$GC,847,1.78,391.0,2965,2007,1706,4094,6.2,14.0,59,861,0.00,3.47,0.00,0.000,260,0.000,0.261,2965,3218,1706,1706,4094,0,0,0,0,0,0,26.03,25.60,26.05,9.92,34.60
$STATE,876,end climb,FINISH_DEPTH_REACHED
$STATE,876,begin subsurface finish
$FINISH1,1.9,1.025178,-152
$GC,884,-0.24,-152.4,2965,2018,1705,4094,1.9,14.2,61,901,6.57,0.00,-6.15,0.000,20486,0.142,0.000,2349,2013,2357,2357,4094,0,0,0,0,0,0,25.82,24.64,25.84,9.93,34.52
$FINISH2,0.1
$STATE,902,end subsurface finish,CONTROL_FINISHED_OK
$STATE,902,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,102043
$TT8_MAMPS,0.026215,0.246421
$HUMID,34.60
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.6,9.5
$24V_AH,23.62,8.504
$10V_AH,8.91,8.390
$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,39.325,26.475,47.400,0.000,0.000,29.444,26.296,160.375,0.750,0.000,16.679,238.888,0.000,107.473,843.743,30.185,33.460,355.761,0.000,609.347,0.000,8.927,0.000
$DEVICE_MAMPS,417.144,265.681,4250.896,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.111,79.447,133.333,337.681,585.186,0.000,0.000,0.000,0.000,0.000
$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,3940,62
$CAP_FILE_SIZE,24148,11
$CFSIZE,1024409600,1016053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,110655,5714.020,-16534.729,5,0.9,15,10.8,0.7,160.3,9,4.8