version: 66.12
glider: 401
mission: 20
dive: 86
start: 4 30 117 0 28 57
data:
$ID,401
$MISSION,20
$DIVE,86
$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,120
$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,13
$R_STBD_OVSHOOT,18
$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
$GPS1,300417,002223,5712.8066,-16525.8340,11,1.0,57,10.9,0.8,306.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-39.4
$GPS2,300417,002756,5712.8057,-16525.9805,5,0.9,36,10.9,0.0,0.0,9,3.2
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.406,-16508.752
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.305675,0.200277
$KALMAN_X,-5014.595703,1302.300781,225.072632,22956.982422,-412.595184
$KALMAN_Y,5253.939453,157.725037,-356.810822,-8324.505859,-213.769943
$MHEAD_RNG_PITCHd_Wd,109.1,20000,-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,-439.9,231,2028,1648,4094,0.0,0.0,0,33,0.00,0.00,-9.38,0.000,16390,0.000,0.000,231,2028,2692,2692,4095,0,0,0,0,0,0,26.05,25.21,26.06,9.91,35.46
$GC,34,-1.72,-439.9,231,2028,2692,4094,0.9,0.0,1,68,20.20,4.05,0.00,0.000,2564,0.397,0.256,1849,606,2695,2695,4095,0,0,0,0,0,0,25.49,25.44,25.57,10.13,35.86
$GC,83,-1.72,-439.9,1849,606,2696,4095,17.3,-33.7,4,98,0.00,3.78,0.00,0.000,1030,0.000,0.142,1849,2026,2695,2695,4095,0,0,0,0,0,0,25.65,25.60,25.69,10.13,35.66
$GC,160,-1.72,-439.9,1849,2026,2697,4095,27.3,-12.1,10,178,0.00,4.18,0.00,0.000,260,0.000,0.313,1849,3439,2697,2697,4094,0,0,0,0,0,0,26.01,25.54,26.03,10.12,34.95
$GC,218,-1.72,-439.9,1848,3439,2699,4094,34.4,-12.3,14,233,0.00,3.70,0.00,0.000,1030,0.000,0.134,1849,2048,2698,2698,4094,0,0,0,0,0,0,25.81,25.75,25.82,10.12,35.11
$GC,295,-1.72,-439.9,1849,2044,2700,4094,43.7,-11.4,20,309,0.00,4.05,0.00,0.000,516,0.000,0.263,1849,612,2700,2700,4094,0,0,0,0,0,0,26.13,25.69,26.15,10.12,34.99
$GC,349,-1.72,-439.9,1849,612,2702,4094,50.5,-12.8,24,364,0.00,3.78,0.00,0.000,1030,0.000,0.149,1849,2042,2702,2702,4094,0,0,0,0,0,0,25.89,25.84,25.93,10.12,34.60
$STATE,419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,423,-0.45,0.0,1849,2042,2703,4095,58.9,-11.8,29,457,4.55,0.00,26.62,4.338,10244,0.219,0.000,2256,2042,2173,2173,4094,0,0,0,0,0,0,25.87,25.02,23.94,10.12,34.56
$STATE,458,end apogee,CONTROL_FINISHED_OK
$STATE,458,begin climb
$GC,459,1.72,439.9,2256,2043,2173,4094,61.6,0.0,31,506,7.53,0.00,26.35,4.251,11270,0.137,0.000,2945,2043,1658,1658,4094,0,0,0,0,0,0,25.28,25.46,23.54,10.01,34.64
$GC,568,1.72,439.9,2945,2043,1657,4094,52.0,13.1,39,583,0.00,4.12,0.00,0.000,516,0.000,0.263,2945,621,1657,1657,4094,0,0,1,0,0,0,25.49,25.10,25.51,9.91,34.56
$GC,611,1.72,439.9,2945,621,1656,4094,45.5,14.9,42,626,0.00,3.78,0.00,0.000,1030,0.000,0.142,2946,2025,1656,1656,4094,0,0,0,0,0,0,25.37,25.31,25.39,9.91,34.09
$GC,689,1.72,439.9,2945,2026,1654,4094,34.8,13.8,48,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2025,1653,1653,4094,0,0,0,0,0,0,25.77,25.79,25.79,9.90,34.01
$GC,769,1.72,439.9,2945,2025,1652,4094,24.5,13.1,54,788,0.00,4.10,0.00,0.000,260,0.000,0.286,2946,3430,1651,1651,4094,0,0,0,0,0,0,25.90,25.48,25.91,9.91,34.68
$GC,816,1.72,439.9,2945,3430,1650,4094,17.6,14.8,57,830,0.00,3.83,0.00,0.000,1030,0.000,0.129,2946,1994,1650,1650,4094,0,0,0,0,0,0,25.70,25.64,25.72,9.91,34.56
$GC,894,1.72,439.9,2945,1993,1648,4094,6.3,14.4,63,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1993,1647,1647,4094,0,0,0,0,0,0,26.03,26.04,26.04,9.91,34.87
$STATE,926,end climb,FINISH_DEPTH_REACHED
$STATE,926,begin subsurface finish
$FINISH1,1.4,1.025300,-161
$GC,931,-0.26,-161.0,2946,2050,1647,4094,1.4,14.7,65,951,6.75,0.00,-6.32,0.000,20486,0.236,0.000,2345,2047,2369,2369,4094,0,0,0,0,0,0,25.82,24.65,25.84,9.91,35.23
$FINISH2,0.5
$STATE,952,end subsurface finish,CONTROL_FINISHED_OK
$STATE,952,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,233927
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.11
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.4,9.6
$24V_AH,23.54,11.103
$10V_AH,8.80,9.410
$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,39.025,39.450,52.975,0.000,0.000,23.710,22.425,184.635,0.750,0.000,37.638,250.985,0.000,106.684,914.872,36.863,33.432,372.831,0.000,646.620,0.000,8.930,0.000
$DEVICE_MAMPS,397.280,312.858,4337.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.649,84.525,141.936,360.251,621.914,0.000,0.000,0.000,0.000,0.000
$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,7391,66
$CAP_FILE_SIZE,25929,8
$CFSIZE,1024409600,1014284288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,300417,002756,5712.806,-16525.980,5,0.9,36,10.9,0.0,0.0,9,3.2