version: 66.12
glider: 401
mission: 20
dive: 70
start: 4 29 117 18 27 20
data:
$ID,401
$MISSION,20
$DIVE,70
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$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,20
$T_MISSION,42
$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,450
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$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,3
$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
$GPS1,290417,182053,5714.3301,-16529.4707,3,0.7,15,10.8,0.6,43.3,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-39.3
$GPS2,290417,182619,5714.4014,-16529.4336,4,0.7,19,10.8,0.6,331.9,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.886,-16510.594
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.093160,-0.353424
$KALMAN_X,-3723.460938,1092.950806,534.453552,18081.185547,152.560852
$KALMAN_Y,4952.726562,458.619690,442.462982,-6187.536133,333.148102
$MHEAD_RNG_PITCHd_Wd,98.2,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$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,-1.72,-439.9,232,2023,1648,4094,0.0,0.0,0,36,0.00,0.00,-9.50,0.000,16390,0.000,0.000,232,2023,2690,2690,4094,0,0,0,0,0,0,26.03,25.20,26.05,9.91,35.94
$GC,38,-1.72,-439.9,232,2023,2690,4094,0.8,0.0,1,71,20.42,0.00,0.00,0.000,2054,0.405,0.000,1848,2023,2692,2692,4095,0,0,0,0,0,0,25.40,25.52,25.47,10.14,35.90
$GC,134,-1.72,-439.9,1847,2023,2694,4094,23.8,-12.4,8,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2023,2694,2694,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.13,35.27
$GC,214,-1.72,-439.9,1848,2023,2695,4094,33.6,-12.0,14,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2024,2696,2696,4094,0,0,0,0,0,0,26.02,26.04,26.03,10.12,34.95
$GC,295,-1.72,-439.9,1848,2023,2697,4094,43.2,-11.9,20,310,0.00,4.15,0.00,0.000,260,0.000,0.303,1848,3441,2697,2697,4094,0,0,0,0,0,0,26.10,25.63,26.11,10.13,34.76
$GC,337,-1.72,-439.9,1848,3441,2698,4094,48.5,-12.4,23,357,0.00,3.75,0.00,0.000,1030,0.000,0.137,1848,2029,2698,2698,4095,0,0,0,0,0,0,25.86,25.81,25.89,10.13,34.76
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,421,-0.45,0.0,1848,2028,2700,4094,58.4,-12.2,29,455,4.57,0.00,26.52,4.315,10244,0.219,0.000,2257,2026,2174,2174,4094,0,0,0,0,0,0,25.86,24.99,23.91,10.12,34.52
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,457,1.72,439.9,2257,2026,2174,4094,61.1,0.0,31,505,7.47,4.22,26.50,4.243,10500,0.146,0.298,2948,3438,1660,1660,4094,0,0,0,0,0,0,25.16,25.06,23.53,10.01,34.72
$GC,521,1.72,439.9,2947,3438,1659,4094,57.5,8.5,35,540,0.00,3.85,0.00,0.000,1030,0.000,0.122,2948,2031,1659,1659,4094,0,0,0,0,0,0,25.02,24.94,25.06,9.92,34.05
$GC,605,1.72,439.9,2947,2031,1657,4094,46.7,13.2,41,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2031,1657,1657,4094,0,0,0,0,0,0,25.60,25.60,25.60,9.91,33.93
$GC,682,1.72,439.9,2947,2031,1655,4094,36.1,14.1,47,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2031,1654,1654,4094,0,0,0,0,0,0,25.77,25.78,25.78,9.91,34.40
$GC,758,1.72,439.9,2947,2031,1653,4095,25.7,13.4,53,773,0.00,4.12,0.00,0.000,260,0.000,0.286,2948,3441,1652,1652,4094,0,0,1,0,0,0,25.89,25.44,25.89,9.90,34.91
$GC,824,1.72,439.9,2947,3440,1650,4094,15.9,15.5,58,843,0.00,3.72,0.00,0.000,1030,0.000,0.122,2948,2040,1650,1650,4094,0,0,0,0,0,0,25.70,25.66,25.74,9.90,34.80
$GC,908,1.72,439.9,2947,2040,1647,4094,3.6,14.4,64,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2035,1647,1647,4094,0,0,0,0,0,0,26.04,26.06,26.06,9.91,34.72
$STATE,939,end climb,FINISH_DEPTH_REACHED
$STATE,939,begin subsurface finish
$FINISH1,0.1,1.016033,0
$GC,943,0.00,0.0,2948,2035,1647,4094,0.1,13.2,66,959,5.45,0.00,-5.10,0.000,20486,0.114,0.000,2429,2036,2180,2180,4094,0,0,0,0,0,0,25.84,24.66,25.86,9.92,35.39
$FINISH2,0.2
$STATE,960,end subsurface finish,CONTROL_FINISHED_OK
$STATE,960,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,173918
$TT8_MAMPS,0.026215,0.246421
$HUMID,34.80
$INTERNAL_PRESSURE,9.95511
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.53,9.902
$10V_AH,8.89,8.951
$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,37.925,23.825,53.025,0.000,0.000,39.146,28.652,173.885,0.500,0.000,21.051,243.047,0.000,105.869,928.130,33.979,33.439,367.357,0.000,665.965,0.000,7.310,0.000
$DEVICE_MAMPS,404.729,302.926,4315.454,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.583,85.862,144.074,374.558,641.111,0.000,0.000,0.000,0.000,0.000
$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,7496,67
$CAP_FILE_SIZE,24307,10
$CFSIZE,1024409600,1015070720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,182619,5714.401,-16529.434,4,0.7,19,10.8,0.6,331.9,10,4.8