version: 66.12
glider: 401
mission: 20
dive: 96
start: 4 30 117 4 13 18
data:
$ID,401
$MISSION,20
$DIVE,96
$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,110
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,300417,040733,5712.8721,-16527.6387,3,0.8,12,10.8,0.6,296.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-40.6
$GPS2,300417,041217,5712.9312,-16527.7129,5,0.8,17,10.8,0.0,0.0,11,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.238,-16509.004
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.247655,-0.268749
$KALMAN_X,-8261.308594,-32.439911,-790.077698,26805.119141,-150.232925
$KALMAN_Y,5874.643555,-173.283112,-302.581726,-8454.943359,268.964478
$MHEAD_RNG_PITCHd_Wd,99.2,20000,-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,15,-1.72,-439.9,243,2048,1648,4094,0.0,0.0,0,36,0.00,0.00,-9.70,0.000,16390,0.000,0.000,243,2048,2691,2691,4094,0,0,0,0,0,0,26.03,25.18,26.04,9.90,35.62
$GC,38,-1.72,-439.9,243,2048,2692,4094,0.9,0.0,1,67,20.40,0.00,0.00,0.000,2054,0.410,0.000,1844,2042,2694,2694,4095,0,0,0,0,0,0,25.42,25.53,25.48,10.12,35.94
$GC,129,-1.72,-439.9,1844,2042,2696,4095,23.7,-14.8,8,146,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2042,2696,2696,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.13,35.27
$GC,208,-1.72,-439.9,1844,2042,2697,4094,33.5,-12.4,14,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2042,2698,2698,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.12,35.31
$GC,284,-1.72,-439.9,1844,2042,2699,4095,42.2,-11.3,20,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2042,2699,2699,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,35.15
$GC,370,-1.72,-439.9,1844,2042,2700,4094,52.0,-11.7,26,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2042,2701,2701,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,35.35
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,426,-0.45,0.0,1844,2042,2702,4095,58.9,-12.6,30,464,4.62,0.00,26.42,4.350,10246,0.226,0.000,2256,2042,2173,2173,4095,0,0,0,0,0,0,25.88,25.00,23.89,10.12,34.56
$STATE,465,end apogee,CONTROL_FINISHED_OK
$STATE,465,begin climb
$GC,466,1.72,439.9,2256,2042,2174,4094,61.4,0.0,32,512,7.50,0.00,26.52,4.273,10246,0.137,0.000,2943,2042,1659,1659,4094,0,0,0,0,0,0,25.28,24.27,23.54,10.01,34.76
$GC,574,1.72,439.9,2941,2042,1657,4094,52.3,12.4,40,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2042,1657,1657,4094,0,0,0,0,0,0,25.48,25.49,25.49,9.91,34.01
$GC,655,1.72,439.9,2942,2042,1656,4094,41.6,13.9,46,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2042,1655,1655,4094,0,0,0,0,0,0,25.70,25.72,25.71,9.90,34.13
$GC,735,1.72,439.9,2942,2042,1653,4094,30.3,14.4,52,754,0.00,4.07,0.00,0.000,260,0.000,0.281,2943,3434,1652,1652,4094,0,0,0,0,0,0,25.84,25.42,25.85,9.90,34.32
$GC,792,1.72,439.9,2942,3434,1651,4094,22.0,14.6,56,807,0.00,3.75,0.00,0.000,1030,0.000,0.129,2943,2030,1650,1650,4094,0,0,0,0,0,0,25.66,25.60,25.68,9.91,35.11
$GC,870,1.72,439.9,2942,2029,1648,4094,11.0,13.9,62,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2030,1648,1648,4094,0,0,0,0,0,0,25.99,26.01,26.01,9.91,35.07
$STATE,922,end climb,FINISH_DEPTH_REACHED
$STATE,922,begin subsurface finish
$FINISH1,2.7,1.025310,-162
$GC,927,-0.26,-161.7,2942,2027,1646,4094,2.7,15.9,66,960,6.55,4.28,-6.03,0.000,20996,0.186,4.229,2344,610,2369,2369,4094,0,0,0,0,0,0,25.82,24.34,25.84,9.91,34.60
$FINISH2,0.8
$STATE,961,end subsurface finish,CONTROL_FINISHED_OK
$STATE,961,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,032405
$TT8_MAMPS,0.026964,0.26215
$HUMID,34.80
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.54,11.851
$10V_AH,8.80,9.694
$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,39.075,12.100,52.950,0.000,0.000,22.838,18.727,162.139,0.500,0.000,18.758,234.172,0.000,106.854,881.644,37.782,33.434,365.437,0.000,665.058,0.000,7.324,0.000
$DEVICE_MAMPS,409.695,4228.549,4350.216,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.168,87.139,146.237,370.611,640.297,0.000,0.000,0.000,0.000,0.000
$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,7424,68
$CAP_FILE_SIZE,22580,10
$CFSIZE,1024409600,1013792768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,041217,5712.931,-16527.713,5,0.8,17,10.8,0.0,0.0,11,4.7