version: 66.12
glider: 401
mission: 20
dive: 22
start: 4 29 117 1 0 32
data:
$ID,401
$MISSION,20
$DIVE,22
$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,28
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$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,20
$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,45
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,290417,005450,5713.7979,-16545.4570,2,0.7,35,10.7,3.0,323.6,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-48.3
$GPS2,290417,005931,5713.7998,-16545.5645,6,0.7,13,10.7,0.0,0.0,12,4.8
$SPEED_LIMITS,0.102,0.264
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.263794,0.009633
$KALMAN_X,-3503.163818,-826.212524,-664.018311,4836.207520,-280.584412
$KALMAN_Y,-1061.677246,-97.914902,-259.141815,-19.528034,-11.501442
$MHEAD_RNG_PITCHd_Wd,77.2,96210,-18.3,-10.185,-21.10,2908
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.98,-195.5,241,2012,1822,4094,0.0,0.0,0,33,0.00,0.00,-5.12,0.000,16390,0.000,0.000,241,2012,2400,2400,4094,0,0,0,0,0,0,26.04,25.16,26.06,9.97,36.06
$GC,34,-1.98,-195.5,241,2011,2400,4094,1.1,0.0,1,72,19.80,3.75,-0.03,0.000,18692,0.437,4.045,1767,3217,2414,2414,4095,0,0,0,0,0,0,25.30,24.05,24.92,10.10,35.50
$GC,123,-1.98,-195.5,1766,3218,2415,4094,18.6,-16.5,7,142,0.00,3.22,0.00,0.000,1030,0.000,0.127,1766,2022,2416,2416,4094,0,0,0,0,0,0,25.40,25.37,25.44,10.09,35.46
$GC,205,-1.98,-195.5,1766,2022,2418,4095,30.6,-14.3,13,220,0.00,3.40,0.00,0.000,516,0.000,0.258,1766,827,2418,2418,4094,0,0,0,0,0,0,25.84,25.42,25.86,10.07,34.40
$GC,311,-1.98,-195.5,1766,827,2421,4094,46.1,-16.1,21,325,0.00,3.03,0.00,0.000,1030,0.000,0.139,1766,1979,2422,2422,4094,0,0,0,0,0,0,25.73,25.68,25.79,10.08,34.44
$STATE,375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,375,begin apogee
$GC,379,-0.45,0.0,1766,2045,2423,4094,55.5,-12.7,26,412,5.68,0.00,13.43,3.891,10244,0.266,0.000,2255,2046,2176,2176,4094,0,0,0,0,0,0,25.70,24.87,24.07,10.07,33.85
$STATE,413,end apogee,CONTROL_FINISHED_OK
$STATE,413,begin climb
$GC,414,1.98,195.5,2254,2046,2175,4094,58.3,0.0,28,447,8.38,0.00,12.82,3.871,11270,0.137,0.000,3024,2046,1945,1945,4094,0,0,0,0,0,0,25.49,25.70,23.87,10.02,33.97
$GC,510,1.98,195.5,3023,2046,1944,4094,51.3,11.9,35,524,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2046,1944,1944,4094,0,0,0,0,0,0,25.72,25.73,25.72,9.98,33.61
$GC,586,1.98,195.5,3023,2046,1942,4094,40.8,14.1,41,600,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2046,1941,1941,4094,0,0,0,0,0,0,25.86,25.88,25.88,9.97,33.77
$GC,663,1.98,195.5,3023,2047,1940,4094,30.3,13.8,47,678,0.00,3.47,0.00,0.000,516,0.000,0.261,3024,831,1940,1940,4094,0,0,0,0,0,0,25.97,25.56,25.98,9.97,33.81
$GC,777,1.98,195.5,3023,830,1936,4094,14.4,14.0,56,792,0.00,3.03,0.00,0.000,1030,0.000,0.129,3024,1997,1936,1936,4094,0,0,0,0,0,0,25.83,25.79,25.85,9.97,34.01
$GC,855,1.98,195.5,3024,1997,1934,4094,4.4,12.8,62,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1997,1934,1934,4094,0,0,0,0,0,0,26.15,26.17,26.16,9.97,34.72
$STATE,887,end climb,FINISH_DEPTH_REACHED
$STATE,888,begin subsurface finish
$FINISH1,0.7,1.025036,0
$GC,892,0.00,0.0,3024,1999,1933,4094,0.7,11.4,64,911,6.45,0.00,-2.30,0.000,20486,0.127,0.000,2418,1999,2178,2178,4094,0,0,0,0,0,0,25.89,25.34,25.93,9.98,34.20
$FINISH2,0.1
$STATE,912,end subsurface finish,CONTROL_FINISHED_OK
$STATE,912,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,001449
$TT8_MAMPS,0.026215,0.268142
$HUMID,34.24
$INTERNAL_PRESSURE,9.96488
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,46.1,6.8
$24V_AH,23.87,6.759
$10V_AH,8.90,7.635
$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,40.300,20.025,26.250,0.000,0.000,23.024,18.488,168.333,0.500,0.000,14.451,240.785,0.000,87.251,863.302,26.871,33.466,313.473,0.000,641.384,0.000,7.320,0.000
$DEVICE_MAMPS,437.008,4044.807,3890.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.526,83.419,139.810,359.073,616.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344580
$DATA_FILE_SIZE,7424,65
$CAP_FILE_SIZE,22418,7
$CFSIZE,1024409600,1017430016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290417,005931,5713.800,-16545.564,6,0.7,13,10.7,0.0,0.0,12,4.8