version: 66.12
glider: 401
mission: 20
dive: 76
start: 4 29 117 20 42 36
data:
$ID,401
$MISSION,20
$DIVE,76
$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,22
$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
$GPS1,290417,203440,5714.4824,-16526.3066,3,0.8,14,10.9,0.9,266.4,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-38.0
$GPS2,290417,204136,5714.4956,-16526.2988,4,0.8,17,10.9,0.5,348.7,9,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.979,-16507.457
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.316800,-0.182200
$KALMAN_X,-2729.514893,1632.034058,933.808594,19292.982422,93.441467
$KALMAN_Y,6603.871094,896.247498,715.124756,-8362.984375,55.354065
$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,16,-1.72,-439.9,232,2040,1647,4094,0.0,0.0,0,34,0.00,0.00,-9.48,0.000,16390,0.000,0.000,232,2040,2687,2687,4094,0,0,0,0,0,0,26.01,25.18,26.02,9.91,36.17
$GC,35,-1.72,-439.9,232,2040,2687,4094,0.8,0.0,1,72,20.27,0.00,0.00,0.000,2054,0.400,0.000,1849,2034,2690,2690,4095,0,0,0,0,0,0,25.46,25.57,25.52,10.13,35.98
$GC,134,-1.72,-439.9,1848,2034,2691,4094,22.0,-13.1,8,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2034,2691,2691,4095,0,0,0,0,0,0,25.96,25.97,25.97,10.13,35.66
$GC,210,-1.72,-439.9,1848,2033,2693,4094,31.3,-12.4,14,225,0.00,4.12,0.00,0.000,260,0.000,0.305,1849,3435,2693,2693,4094,0,0,0,0,0,0,26.05,25.58,26.06,10.12,35.74
$GC,253,-1.72,-439.9,1848,3436,2694,4094,36.6,-12.4,17,267,0.00,3.75,0.00,0.000,1030,0.000,0.134,1849,2024,2695,2695,4095,0,0,0,0,0,0,25.84,25.77,25.84,10.12,35.27
$GC,330,-1.72,-439.9,1848,2024,2696,4095,46.2,-12.7,23,348,0.00,4.00,0.00,0.000,516,0.000,0.273,1849,610,2696,2696,4095,0,0,0,0,0,0,26.14,25.70,26.15,10.12,34.76
$GC,366,-1.72,-439.9,1848,610,2696,4094,50.6,-12.9,25,381,0.00,3.67,0.00,0.000,1030,0.000,0.146,1849,2006,2697,2697,4095,0,0,0,0,0,0,25.89,25.84,25.92,10.12,35.07
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,422,-0.45,0.0,1849,2006,2698,4094,58.1,-13.4,29,456,4.57,0.00,26.33,4.315,10244,0.226,0.000,2256,2006,2174,2174,4094,0,0,0,0,0,0,25.87,25.01,23.91,10.13,34.52
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,457,begin climb
$GC,458,1.72,439.9,2256,2006,2174,4094,60.9,0.0,31,509,7.60,4.07,26.27,4.253,10756,0.159,0.276,2945,612,1660,1660,4094,0,0,0,0,0,0,25.18,25.07,23.54,10.01,34.32
$GC,524,1.72,439.9,2944,612,1660,4094,57.6,7.8,35,543,0.00,3.83,0.00,0.000,1030,0.000,0.137,2944,2024,1659,1659,4094,0,0,0,0,0,0,25.05,25.01,25.07,9.92,33.69
$GC,608,1.72,439.9,2944,2024,1658,4094,46.5,13.2,41,624,0.00,4.18,0.00,0.000,260,0.000,0.286,2945,3437,1657,1657,4094,0,0,0,0,0,0,25.60,25.18,25.61,9.91,34.44
$GC,663,1.72,439.9,2944,3437,1656,4094,39.2,13.5,45,677,0.00,3.80,0.00,0.000,1030,0.000,0.132,2945,2027,1655,1655,4094,0,0,0,0,0,0,25.47,25.41,25.50,9.91,33.93
$GC,741,1.72,439.9,2944,2027,1653,4094,28.4,13.5,51,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2027,1653,1653,4094,0,0,0,0,0,0,25.85,25.86,25.86,9.90,34.48
$GC,818,1.72,439.9,2944,2027,1651,4094,18.3,13.3,57,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2027,1651,1651,4094,0,0,0,0,0,0,25.95,25.96,25.96,9.90,34.28
$GC,893,1.72,439.9,2944,2027,1648,4094,8.3,13.2,63,907,0.00,4.10,0.00,0.000,260,0.000,0.283,2945,3439,1648,1648,4094,0,0,1,0,0,0,26.03,25.58,26.04,9.91,34.95
$STATE,934,end climb,FINISH_DEPTH_REACHED
$STATE,934,begin subsurface finish
$FINISH1,1.8,1.025288,-160
$GC,942,-0.26,-160.2,2945,2020,1647,4094,1.8,15.2,66,959,6.30,0.00,-6.85,0.000,20486,0.117,0.000,2348,2020,2367,2367,4094,0,0,0,0,0,0,25.81,24.66,25.84,9.92,34.87
$FINISH2,0.1
$STATE,960,end subsurface finish,CONTROL_FINISHED_OK
$STATE,960,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,195100
$TT8_MAMPS,0.026215,0.258405
$HUMID,35.50
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.5
$24V_AH,23.54,10.354
$10V_AH,8.82,9.123
$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,38.750,39.300,52.600,0.000,0.000,57.477,29.791,183.964,0.500,0.000,18.930,249.371,60.265,108.550,945.685,35.899,33.433,376.844,0.000,655.882,0.000,6.989,0.000
$DEVICE_MAMPS,399.763,305.409,4315.454,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.400,85.817,144.062,366.537,631.215,0.000,0.000,0.000,0.000,0.000
$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,7369,67
$CAP_FILE_SIZE,26303,9
$CFSIZE,1024409600,1014775808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,290417,204136,5714.496,-16526.299,4,0.8,17,10.9,0.5,348.7,9,4.8