version: 66.12
glider: 401
mission: 20
dive: 30
start: 4 29 117 3 46 28
data:
$ID,401
$MISSION,20
$DIVE,30
$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,2
$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,16
$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
$GPS1,290417,034047,5714.5981,-16546.2168,2,1.2,48,10.7,0.0,0.0,8,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-47.6
$GPS2,290417,034527,5714.6499,-16546.2188,6,0.9,19,10.7,0.0,256.1,9,5.0
$SPEED_LIMITS,0.102,0.356
$TGT_NAME,NW
$TGT_LATLONG,5701.060,-16413.051
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.214870,-0.283292
$KALMAN_X,-5511.443359,-1392.312622,-868.762024,6947.452637,4.006226
$KALMAN_Y,398.309631,220.482605,155.591980,-651.283875,242.353668
$MHEAD_RNG_PITCHd_Wd,139.3,97244,-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,16,-1.78,-391.0,242,2024,1818,4095,0.0,0.0,0,34,0.00,0.00,-7.18,0.000,16390,0.000,0.000,242,2024,2638,2638,4095,0,0,0,0,0,0,26.08,25.21,26.09,9.96,36.02
$GC,35,-1.78,-391.0,242,2024,2638,4094,1.2,0.0,1,65,20.42,0.00,0.00,0.000,2054,0.427,0.000,1827,2019,2640,2640,4094,0,0,0,0,0,0,25.42,25.54,25.50,10.14,35.58
$GC,129,-1.78,-391.0,1826,2019,2642,4094,23.0,-14.1,8,144,0.00,3.38,0.00,0.000,516,0.000,0.251,1827,830,2642,2642,4094,0,0,0,0,0,0,25.96,25.54,25.97,10.13,35.23
$GC,185,-1.78,-391.0,1826,830,2643,4094,31.5,-15.2,12,200,0.00,3.12,0.00,0.000,1030,0.000,0.142,1827,2015,2644,2644,4095,0,0,0,0,0,0,25.75,25.69,25.78,10.12,34.72
$GC,266,-1.78,-391.0,1826,2015,2645,4094,41.5,-12.0,18,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2015,2645,2645,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.12,34.52
$GC,351,-1.78,-391.0,1826,2015,2647,4094,52.0,-12.0,24,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2015,2647,2647,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.12,34.20
$STATE,380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,380,begin apogee
$GC,383,-0.45,0.0,1827,2015,2648,4094,55.6,-11.6,26,417,4.88,0.00,24.08,4.201,10244,0.238,0.000,2257,2015,2173,2173,4094,0,0,0,0,0,0,25.84,25.05,23.98,10.12,34.24
$STATE,418,end apogee,CONTROL_FINISHED_OK
$STATE,418,begin climb
$GC,419,1.78,391.0,2257,2015,2174,4094,58.6,0.0,28,463,7.72,0.00,23.45,4.127,11270,0.144,0.000,2962,2015,1720,1720,4094,0,0,0,0,0,0,25.33,25.50,23.63,10.02,34.13
$GC,527,1.78,391.0,2961,2015,1719,4094,48.8,13.4,36,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2015,1719,1719,4094,0,0,0,0,0,0,25.56,25.57,25.57,9.93,33.61
$GC,605,1.78,391.0,2961,2015,1716,4095,37.7,14.5,42,620,0.00,3.38,0.00,0.000,516,0.000,0.251,2962,830,1716,1716,4094,0,0,1,0,0,0,25.76,25.37,25.77,9.93,34.09
$GC,635,1.78,391.0,2961,830,1716,4094,33.2,14.5,44,650,0.00,3.20,0.03,0.012,9222,0.000,0.137,2962,2038,1715,1715,4094,0,0,0,0,0,0,25.56,25.47,25.58,9.93,34.52
$GC,715,1.78,391.0,2961,2038,1713,4094,21.9,13.9,50,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2038,1714,1714,4094,0,0,0,0,0,0,25.93,25.94,25.94,9.93,34.24
$GC,792,1.78,391.0,2961,2038,1711,4094,11.5,13.4,56,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2038,1710,1710,4094,0,0,0,0,0,0,26.01,26.03,26.03,9.92,34.13
$STATE,861,end climb,FINISH_DEPTH_REACHED
$STATE,861,begin subsurface finish
$FINISH1,2.4,1.025090,-146
$GC,865,-0.23,-146.3,2962,2038,1708,4094,2.4,12.9,61,896,6.50,3.62,-5.93,0.000,20740,0.146,4.248,2355,3221,2351,2351,4094,0,0,0,0,0,0,25.84,24.39,25.86,9.93,34.32
$FINISH2,0.1
$STATE,898,end subsurface finish,CONTROL_FINISHED_OK
$STATE,898,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,025925
$TT8_MAMPS,0.026215,0.256907
$HUMID,34.52
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,45.5,9.0
$24V_AH,23.63,7.158
$10V_AH,8.92,7.848
$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,39.525,16.700,47.550,0.000,0.000,25.633,18.029,158.819,0.500,0.000,20.208,243.013,0.000,91.319,840.818,27.192,33.432,338.776,0.000,621.929,0.000,7.325,0.000
$DEVICE_MAMPS,427.076,4248.413,4201.236,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.736,80.696,135.498,353.554,596.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344572
$DATA_FILE_SIZE,7408,63
$CAP_FILE_SIZE,22572,2
$CFSIZE,1024409600,1017036800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,3.980,150.05,1
$GPS,290417,034527,5714.650,-16546.219,6,0.9,19,10.7,0.0,256.1,9,5.0