version: 66.12
glider: 401
mission: 20
dive: 66
start: 4 29 117 16 54 50
data:
$ID,401
$MISSION,20
$DIVE,66
$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,14
$R_STBD_OVSHOOT,10
$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
$GPS1,290417,164849,5713.7358,-16531.3594,3,0.8,21,10.8,0.5,165.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-40.2
$GPS2,290417,165349,5713.7998,-16531.3730,5,0.8,20,10.8,0.5,314.5,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.284,-16512.539
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117627,-0.346057
$KALMAN_X,-4591.002930,852.886353,353.478699,17427.503906,21.778625
$KALMAN_Y,3294.440186,25.122318,-60.720253,-4707.289551,359.180664
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,242,2026,1648,4094,0.0,0.0,0,33,0.00,0.00,-9.38,0.000,16390,0.000,0.000,242,2026,2691,2691,4094,0,0,0,0,0,0,26.05,25.20,26.06,9.92,35.62
$GC,34,-1.72,-439.9,242,2026,2691,4094,0.9,0.0,1,71,20.12,0.00,0.00,0.000,2054,0.402,0.000,1847,2021,2693,2693,4094,0,0,0,0,0,0,25.48,25.60,25.56,10.13,36.06
$GC,133,-1.72,-439.9,1847,2021,2694,4095,21.9,-12.7,8,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2021,2695,2695,4094,0,0,0,0,0,0,25.99,26.00,26.00,10.13,35.23
$GC,209,-1.72,-439.9,1847,2021,2696,4094,31.2,-12.1,14,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2021,2697,2697,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.13,35.19
$GC,286,-1.72,-439.9,1847,2021,2698,4094,39.8,-11.4,20,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2021,2698,2698,4095,0,0,0,0,0,0,26.13,26.15,26.15,10.12,34.80
$GC,363,-1.72,-439.9,1847,2021,2700,4095,49.0,-12.0,26,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2021,2700,2700,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.13,34.72
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,446,-0.45,0.0,1847,2021,2702,4095,58.6,-11.6,32,480,4.57,0.00,26.45,4.333,10246,0.226,0.000,2256,2021,2174,2174,4094,0,0,0,0,0,0,25.92,25.05,23.96,10.12,35.15
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,482,1.72,439.9,2256,2021,2174,4094,61.3,0.0,34,529,7.53,0.00,26.30,4.243,10246,0.144,0.000,2943,2021,1660,1660,4094,0,0,0,0,0,0,25.30,24.29,23.56,10.01,34.68
$GC,591,1.72,439.9,2943,2021,1658,4094,52.0,12.7,42,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2021,1658,1658,4094,0,0,0,0,0,0,25.51,25.52,25.52,9.91,34.56
$GC,667,1.72,439.9,2942,2021,1656,4094,41.8,13.3,48,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2021,1656,1656,4094,0,0,0,0,0,0,25.72,25.73,25.72,9.91,34.20
$GC,743,1.72,439.9,2943,2021,1653,4094,31.2,14.4,54,761,0.00,4.15,0.00,0.000,260,0.000,0.286,2943,3441,1653,1653,4094,0,0,0,0,0,0,25.85,25.42,25.86,9.91,34.32
$GC,811,1.72,439.9,2943,3441,1651,4094,20.8,15.3,59,826,0.00,3.78,0.00,0.000,1030,0.000,0.124,2943,2024,1651,1651,4094,0,0,0,0,0,0,25.67,25.62,25.71,9.91,34.56
$GC,888,1.72,439.9,2943,2024,1649,4094,10.4,13.0,65,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2024,1648,1648,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.91,34.99
$STATE,952,end climb,FINISH_DEPTH_REACHED
$STATE,952,begin subsurface finish
$FINISH1,2.6,1.025244,-157
$GC,956,-0.25,-157.1,2943,2021,1647,4094,2.6,11.5,70,972,6.65,0.00,-6.62,0.000,20486,0.223,0.000,2346,2018,2363,2363,4094,0,0,0,0,0,0,25.84,24.66,25.86,9.91,35.15
$FINISH2,0.3
$STATE,973,end subsurface finish,CONTROL_FINISHED_OK
$STATE,973,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,290417,160458
$TT8_MAMPS,0.026215,0.26215
$HUMID,35.62
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,9.6
$24V_AH,23.56,9.606
$10V_AH,8.83,8.835
$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,38.875,7.925,52.750,0.000,0.000,35.435,30.693,150.770,0.500,0.000,21.395,241.137,0.000,94.364,920.340,32.256,33.461,343.099,0.000,684.468,0.000,7.316,0.000
$DEVICE_MAMPS,402.246,285.545,4332.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.585,91.089,152.689,379.410,658.893,0.000,0.000,0.000,0.000,0.000
$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,7412,71
$CAP_FILE_SIZE,22159,5
$CFSIZE,1024409600,1015267328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,165349,5713.800,-16531.373,5,0.8,20,10.8,0.5,314.5,10,4.8