version: 66.12
glider: 401
mission: 20
dive: 92
start: 4 30 117 2 43 42
data:
$ID,401
$MISSION,20
$DIVE,92
$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,16
$R_STBD_OVSHOOT,13
$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
$GPS1,300417,023555,5712.4473,-16527.4375,3,1.1,32,10.8,0.0,0.0,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-39.0
$GPS2,300417,024242,5712.4976,-16527.6172,5,1.1,30,10.8,1.2,41.0,9,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.098,-16510.391
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.365238,-0.013667
$KALMAN_X,-7221.824707,405.947876,-608.181091,25250.472656,-380.574463
$KALMAN_Y,5017.077637,-259.727295,-590.660522,-8018.409180,-17.039856
$MHEAD_RNG_PITCHd_Wd,109.2,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-439.9,231,2024,1656,4094,0.0,0.0,0,34,0.00,0.00,-9.62,0.000,16390,0.000,0.000,231,2024,2692,2692,4094,0,0,0,0,0,0,26.06,25.23,26.08,9.91,35.90
$GC,35,-1.72,-439.9,231,2024,2692,4094,0.7,0.0,1,72,20.27,0.00,0.00,0.000,2054,0.402,0.000,1848,2024,2694,2694,4094,0,0,0,0,0,0,25.50,25.63,25.58,10.13,35.94
$GC,135,-1.72,-439.9,1847,2024,2696,4094,21.5,-12.6,8,149,0.00,4.03,0.00,0.000,516,0.000,0.261,1848,610,2696,2696,4095,0,0,0,0,0,0,26.00,25.57,26.01,10.14,35.98
$GC,165,-1.72,-439.9,1847,610,2697,4094,25.1,-12.0,10,183,0.00,3.75,0.00,0.000,1030,0.000,0.146,1848,2023,2697,2697,4094,0,0,0,0,0,0,25.82,25.72,25.79,10.13,35.46
$GC,249,-1.72,-439.9,1847,2024,2698,4095,36.3,-13.4,16,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2024,2699,2699,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.12,35.39
$GC,326,-1.72,-439.9,1847,2024,2700,4094,45.5,-12.2,22,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2024,2701,2701,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,34.64
$GC,408,-1.72,-439.9,1847,2024,2702,4094,54.4,-10.4,28,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2024,2702,2702,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.13,34.76
$STATE,440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,440,begin apogee
$GC,444,-0.45,0.0,1848,2024,2704,4094,58.5,-11.6,30,478,4.57,0.00,26.58,4.330,10244,0.221,0.000,2256,2024,2174,2174,4094,0,0,0,0,0,0,25.93,25.04,23.95,10.12,35.50
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,480,1.72,439.9,2256,2024,2174,4094,60.8,0.0,32,527,7.55,0.00,26.27,4.236,11270,0.139,0.000,2946,2024,1660,1660,4094,0,0,0,0,0,0,25.31,25.48,23.56,10.01,34.40
$GC,589,1.72,439.9,2946,2029,1658,4094,51.0,13.7,40,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2029,1658,1658,4095,0,0,0,0,0,0,25.51,25.52,25.51,9.90,33.93
$GC,668,1.72,439.9,2945,2029,1656,4094,40.9,13.0,46,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2029,1656,1656,4094,0,0,0,0,0,0,25.72,25.73,25.73,9.90,34.87
$GC,748,1.72,439.9,2946,2029,1653,4094,29.5,14.8,52,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2029,1653,1653,4094,0,0,0,0,0,0,25.85,25.87,25.87,9.91,34.36
$GC,824,1.72,439.9,2946,2029,1651,4094,19.8,12.8,58,842,0.00,4.12,0.00,0.000,260,0.000,0.288,2946,3440,1651,1651,4094,0,0,0,0,0,0,25.96,25.51,25.96,9.91,34.56
$GC,869,1.72,439.9,2946,3440,1650,4094,12.8,14.7,61,884,0.00,3.78,0.00,0.000,1030,0.000,0.124,2946,2021,1649,1649,4094,0,0,0,0,0,0,25.73,25.69,25.77,9.91,34.56
$STATE,934,end climb,FINISH_DEPTH_REACHED
$STATE,934,begin subsurface finish
$FINISH1,2.6,1.025307,-161
$GC,938,-0.26,-161.5,2946,2021,1648,4094,2.6,15.5,66,958,6.32,0.00,-6.65,0.000,20486,0.114,0.000,2346,2017,2367,2367,4095,0,0,0,0,0,0,25.83,24.46,25.85,9.91,35.23
$FINISH2,-0.1
$STATE,959,end subsurface finish,CONTROL_FINISHED_OK
$STATE,959,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,015531
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.31
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,8.7
$24V_AH,23.56,11.554
$10V_AH,8.85,9.579
$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,38.725,15.675,52.850,0.000,0.000,55.768,23.924,165.164,0.500,0.000,31.840,235.187,60.059,108.568,939.515,36.958,33.434,367.786,0.000,658.673,0.000,7.325,0.000
$DEVICE_MAMPS,402.246,288.028,4330.352,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.453,85.847,144.093,367.466,634.178,0.000,0.000,0.000,0.000,0.000
$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,7477,67
$CAP_FILE_SIZE,24195,11
$CFSIZE,1024409600,1013989376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,024242,5712.498,-16527.617,5,1.1,30,10.8,1.2,41.0,9,5.0