version: 66.12
glider: 401
mission: 20
dive: 74
start: 4 29 117 19 55 43
data:
$ID,401
$MISSION,20
$DIVE,74
$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,15
$R_STBD_OVSHOOT,11
$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
$GPS1,290417,195000,5714.5713,-16527.2441,4,0.9,22,10.9,0.7,30.2,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-38.4
$GPS2,290417,195442,5714.6016,-16527.2227,4,1.1,15,10.9,0.7,349.5,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5711.085,-16508.381
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.226768,-0.286617
$KALMAN_X,-2858.848877,1467.627808,830.474609,18760.417969,174.924194
$KALMAN_Y,6241.790039,807.325134,708.679810,-7713.148926,189.935242
$MHEAD_RNG_PITCHd_Wd,98.1,20000,-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,-439.9,241,2023,1647,4094,0.0,0.0,0,36,0.00,0.00,-9.45,0.000,16390,0.000,0.000,242,2023,2690,2690,4094,0,0,0,0,0,0,26.03,25.18,26.04,9.91,35.58
$GC,38,-1.72,-439.9,241,2023,2690,4094,0.8,0.0,1,71,20.30,0.00,0.00,0.000,2054,0.407,0.000,1849,2019,2692,2692,4094,0,0,0,0,0,0,25.40,25.52,25.47,10.13,36.29
$GC,133,-1.72,-439.9,1848,2019,2694,4094,24.5,-13.3,8,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2019,2694,2694,4095,0,0,0,0,0,0,25.91,25.93,25.93,10.12,35.90
$GC,213,-1.72,-439.9,1848,2019,2696,4095,34.1,-11.8,14,231,0.00,4.18,0.00,0.000,260,0.000,0.305,1849,3443,2696,2696,4094,0,0,0,0,0,0,26.02,25.55,26.03,10.12,35.66
$GC,247,-1.72,-439.9,1848,3443,2696,4094,38.4,-12.2,16,265,0.00,3.78,0.00,0.000,1030,0.000,0.137,1849,2027,2697,2697,4094,0,0,0,0,0,0,25.78,25.73,25.82,10.12,35.35
$GC,331,-1.72,-439.9,1849,2027,2698,4094,48.9,-12.2,22,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2026,2699,2699,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,34.60
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,416,-0.45,0.0,1849,2026,2700,4094,59.1,-12.7,28,449,4.50,0.00,26.55,4.345,10244,0.219,0.000,2252,2024,2175,2175,4095,0,0,0,0,0,0,25.86,24.98,23.89,10.12,34.52
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,450,begin climb
$GC,452,1.72,439.9,2252,2024,2174,4094,61.7,0.0,30,507,7.55,4.22,26.30,4.248,10500,0.146,0.291,2948,3442,1660,1660,4094,0,0,0,0,0,0,25.15,25.06,23.52,10.01,34.36
$GC,523,1.72,439.9,2947,3442,1659,4094,56.7,9.8,34,542,0.00,3.88,0.00,0.000,1030,0.000,0.127,2948,2029,1659,1659,4094,0,0,0,0,0,0,25.04,24.99,25.09,9.91,33.73
$GC,607,1.72,439.9,2947,2029,1657,4094,45.5,13.4,40,623,0.00,4.15,0.00,0.000,516,0.000,0.283,2948,604,1656,1656,4094,0,0,0,0,0,0,25.61,25.20,25.62,9.90,34.44
$GC,650,1.72,439.9,2947,604,1655,4094,39.5,14.0,43,669,0.00,3.83,0.00,0.000,1030,0.000,0.144,2948,2033,1655,1655,4094,0,0,0,0,0,0,25.46,25.42,25.48,9.91,34.80
$GC,734,1.72,439.9,2947,2033,1653,4094,28.5,12.8,49,750,0.00,4.12,0.00,0.000,260,0.000,0.288,2948,3439,1653,1653,4094,0,0,0,0,0,0,25.84,25.41,25.85,9.90,34.72
$GC,812,1.72,439.9,2947,3439,1651,4094,17.3,14.6,55,827,0.00,3.70,0.00,0.000,1030,0.000,0.129,2948,2054,1650,1650,4094,0,0,0,0,0,0,25.68,25.63,25.72,9.91,34.20
$GC,890,1.72,439.9,2947,2051,1648,4094,6.0,13.8,61,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2051,1648,1648,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.92,34.56
$STATE,919,end climb,FINISH_DEPTH_REACHED
$STATE,920,begin subsurface finish
$FINISH1,1.7,1.025287,-160
$GC,925,-0.26,-160.1,2947,2009,1647,4094,1.7,13.6,63,958,6.35,4.20,-6.28,0.000,20996,0.114,4.238,2343,625,2367,2367,4094,0,0,1,0,0,0,25.83,24.36,25.85,9.92,34.56
$FINISH2,0.4
$STATE,959,end subsurface finish,CONTROL_FINISHED_OK
$STATE,960,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,190657
$TT8_MAMPS,0.026215,0.263648
$HUMID,35.03
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,8.5
$24V_AH,23.52,10.204
$10V_AH,8.82,9.065
$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,38.700,36.100,52.850,0.000,0.000,23.660,20.282,161.821,0.500,0.000,16.821,237.959,0.000,120.942,872.194,35.315,33.436,395.903,0.000,654.559,0.000,7.311,0.000
$DEVICE_MAMPS,407.212,4238.481,4345.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.982,83.236,139.766,372.863,630.733,0.000,0.000,0.000,0.000,0.000
$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,7412,65
$CAP_FILE_SIZE,25199,15
$CFSIZE,1024409600,1014874112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,195442,5714.602,-16527.223,4,1.1,15,10.9,0.7,349.5,10,4.7