version: 66.12
glider: 401
mission: 20
dive: 93
start: 4 30 117 3 1 19
data:
$ID,401
$MISSION,20
$DIVE,93
$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
$GPS1,300417,024242,5712.4976,-16527.6172,5,1.1,30,10.8,1.2,41.0,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,2.0
$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,0.344504,-0.122037
$KALMAN_X,-7430.401855,250.618210,-679.174561,25676.855469,-273.303223
$KALMAN_Y,5060.543457,-314.981445,-566.467224,-8028.358398,65.285156
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,2345,2018,2367,4094,0.0,0.0,0,33,0.00,0.00,-3.00,0.000,16390,0.000,0.000,2345,2018,2692,2692,4094,0,0,0,0,0,0,26.08,24.60,26.07,10.05,35.50
$GC,34,-1.72,-439.9,2345,2018,2692,4094,0.3,0.0,1,50,5.40,4.10,0.00,0.000,4356,0.206,0.248,1865,3448,2692,2692,4094,0,0,0,0,0,0,25.50,25.35,25.54,10.13,35.90
$GC,88,-1.72,-439.9,1864,3448,2693,4095,6.9,-11.9,5,107,0.00,3.80,0.00,0.000,1030,0.000,0.129,1865,2024,2693,2693,4094,0,0,0,0,0,0,25.62,25.58,25.65,10.13,35.31
$GC,172,-1.72,-439.9,1864,2019,2695,4094,16.8,-12.4,11,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2020,2695,2695,4094,0,0,0,0,0,0,25.97,25.99,25.98,10.12,35.31
$GC,250,-1.72,-439.9,1864,2020,2696,4094,25.1,-10.9,17,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2020,2697,2697,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.12,34.83
$GC,327,-1.72,-439.9,1864,2020,2698,4094,33.8,-10.6,23,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2020,2698,2698,4095,0,0,0,0,0,0,26.13,26.14,26.13,10.12,34.76
$GC,403,-1.72,-439.9,1864,2020,2699,4095,41.3,-10.1,29,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2020,2700,2700,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.11,35.39
$GC,483,-1.72,-439.9,1864,2020,2701,4094,49.9,-11.1,35,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2020,2701,2701,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.11,35.27
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,556,begin apogee
$GC,559,-0.45,0.0,1865,2020,2702,4095,58.1,-11.2,40,606,4.38,0.00,26.67,4.338,10244,0.223,0.000,2256,2020,2173,2173,4094,0,0,0,0,0,0,25.95,24.77,23.98,10.12,34.64
$STATE,607,end apogee,CONTROL_FINISHED_OK
$STATE,608,begin climb
$GC,609,1.72,439.9,2256,2020,2173,4094,61.2,0.0,43,655,7.50,0.00,26.17,4.276,11270,0.137,0.000,2944,2020,1660,1660,4094,0,0,0,0,0,0,25.37,25.58,23.58,10.01,34.87
$GC,719,1.72,439.9,2943,2020,1659,4094,52.9,11.8,51,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2020,1658,1658,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.90,33.77
$GC,799,1.72,439.9,2943,2020,1657,4094,41.9,13.1,57,814,0.00,4.18,0.00,0.000,260,0.000,0.273,2944,3445,1656,1656,4094,0,0,0,0,0,0,25.72,25.31,25.74,9.90,34.48
$GC,841,1.72,439.9,2944,3444,1655,4094,35.4,15.2,60,856,0.00,3.83,0.00,0.000,1030,0.000,0.132,2944,2022,1654,1654,4094,0,0,0,0,0,0,25.56,25.48,25.58,9.90,34.17
$GC,919,1.72,439.9,2944,2022,1653,4095,24.4,13.1,66,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2021,1652,1652,4094,0,0,0,0,0,0,25.91,25.92,25.92,9.91,34.09
$GC,995,1.72,439.9,2943,2022,1650,4094,13.8,13.8,72,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2022,1650,1650,4094,0,0,0,0,0,0,25.99,26.01,26.01,9.90,34.36
$GC,1075,1.72,439.9,2944,2021,1648,4094,2.9,13.4,78,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2019,1647,1647,4094,0,0,0,0,0,0,26.07,26.08,26.08,9.90,35.11
$STATE,1104,end climb,SURFACE_DEPTH_REACHED
$STATE,1104,begin surface coast
$FINISH,0.3,1.025294
$STATE,1131,end surface coast,CONTROL_FINISHED_OK
$STATE,1131,begin surface
$SM_CCo,1226,0.00,0.000,0,0,1647,453.34
$SM_GC,0.80,28.88,0.00,0.00,0.107,0.000,0.000,232,2018,1647,-6.81,-0.32,453.34,0,0,0,0,0,0,25.46,26.13,25.76
$IRIDIUM_FIX,5744.64,-16600.79,300417,015531
$TT8_MAMPS,0.026964,0.261401
$HUMID,34.68
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,8.4
$24V_AH,23.58,11.619
$10V_AH,8.80,9.609
$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,46.150,15.900,52.850,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,276.912,59.969,132.249,788.816,21.705,33.413,409.261,0.000,801.812,0.000,5.433,0.000
$DEVICE_MAMPS,223.470,273.130,4337.801,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.965,105.198,176.310,449.327,776.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7450,82
$CAP_FILE_SIZE,21421,9
$CFSIZE,1024409600,1013940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,032308,5712.602,-16527.717,2,0.8,50,10.8,0.0,0.0,9,8.6