version: 66.12
glider: 401
mission: 20
dive: 98
start: 4 30 117 4 57 51
data:
$ID,401
$MISSION,20
$DIVE,98
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,300417,045217,5713.2085,-16527.1934,4,0.9,49,10.8,1.1,333.5,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-36.1
$GPS2,300417,045650,5713.2715,-16527.2266,5,0.9,14,10.8,1.2,335.5,9,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.578,-16508.514
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120534,-0.345055
$KALMAN_X,-8386.345703,-112.685646,-707.754700,27408.542969,6.639732
$KALMAN_Y,6632.919922,1.583595,-45.909653,-9016.506836,359.001282
$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,-439.9,241,2017,1646,4094,0.0,0.0,0,33,0.00,0.00,-9.52,0.000,16390,0.000,0.000,242,2019,2691,2691,4094,0,0,0,0,0,0,26.03,25.20,26.05,9.90,35.78
$GC,34,-1.72,-439.9,241,2019,2691,4094,0.9,0.0,1,72,20.35,4.20,0.00,0.000,2308,0.415,0.300,1850,3437,2694,2694,4094,0,0,0,0,0,0,25.50,25.41,25.58,10.12,36.37
$GC,88,-1.72,-439.9,1849,3437,2694,4095,16.3,-29.5,4,103,0.00,3.78,0.00,0.000,1030,0.000,0.134,1850,2028,2694,2694,4094,0,0,0,0,0,0,25.65,25.61,25.69,10.14,35.50
$GC,165,-1.72,-439.9,1849,2024,2696,4095,26.3,-12.7,10,180,0.00,4.03,0.00,0.000,516,0.000,0.266,1850,610,2696,2696,4095,0,0,0,0,0,0,26.01,25.58,26.02,10.13,35.31
$GC,218,-1.72,-439.9,1849,610,2697,4095,33.7,-13.9,14,233,0.00,3.75,0.00,0.000,1030,0.000,0.144,1850,2028,2697,2697,4095,0,0,0,0,0,0,25.79,25.74,25.81,10.12,35.11
$GC,296,-1.72,-439.9,1849,2028,2699,4094,43.2,-12.0,20,315,0.00,4.12,0.00,0.000,260,0.000,0.308,1850,3437,2700,2700,4095,0,0,0,0,0,0,26.13,25.66,26.14,10.12,34.99
$GC,330,-1.72,-439.9,1849,3437,2699,4094,47.3,-12.1,22,345,0.00,3.75,0.00,0.000,1030,0.000,0.134,1850,2023,2700,2700,4094,0,0,0,0,0,0,25.88,25.84,25.91,10.11,34.76
$GC,414,-1.72,-439.9,1849,2023,2702,4094,56.8,-11.6,28,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2023,2702,2702,4095,0,0,0,0,0,0,26.20,26.22,26.21,10.12,34.52
$STATE,442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,442,begin apogee
$GC,446,-0.45,0.0,1849,2023,2702,4094,60.5,-12.1,30,492,4.53,0.00,26.50,4.425,10244,0.219,0.000,2255,2023,2177,2177,4094,0,0,0,0,0,0,25.91,24.70,23.90,10.12,34.95
$STATE,493,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,495,1.72,439.9,2255,2023,2177,4094,63.7,0.0,33,546,7.47,4.20,26.62,4.360,10500,0.142,0.283,2948,3439,1661,1661,4094,0,0,0,0,0,0,25.25,25.17,23.52,10.01,34.48
$GC,562,1.72,439.9,2947,3438,1660,4094,59.7,8.5,37,581,0.00,3.85,0.00,0.000,1030,0.000,0.124,2948,2031,1660,1660,4094,0,0,0,0,0,0,25.05,25.01,25.08,9.91,33.81
$GC,646,1.72,439.9,2947,2031,1658,4094,47.8,14.2,43,662,0.00,4.12,0.00,0.000,516,0.000,0.273,2948,607,1657,1657,4094,0,0,0,0,0,0,25.60,25.20,25.62,9.91,33.77
$GC,701,1.72,439.9,2947,607,1656,4094,40.3,13.8,47,719,0.00,3.83,0.00,0.000,1030,0.000,0.139,2948,2039,1656,1656,4094,0,0,0,0,0,0,25.51,25.43,25.51,9.90,34.01
$GC,785,1.72,439.9,2947,2039,1654,4094,29.2,12.7,53,800,0.00,4.10,0.00,0.000,260,0.000,0.291,2948,3438,1653,1653,4094,0,0,0,0,0,0,25.86,25.46,25.87,9.91,34.52
$GC,851,1.72,439.9,2948,3438,1652,4094,20.2,14.0,58,869,0.00,3.65,0.00,0.000,1030,0.000,0.127,2948,2067,1651,1651,4094,0,0,0,0,0,0,25.68,25.64,25.71,9.91,34.17
$GC,935,1.72,439.9,2948,2066,1649,4094,8.0,13.7,64,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2066,1648,1648,4094,0,0,0,0,0,0,26.02,26.04,26.03,9.91,35.11
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,1.6,1.025307,-161
$GC,983,-0.26,-161.5,2948,2003,1648,4094,1.6,14.8,67,1012,6.35,4.20,-7.00,0.000,20996,0.119,4.253,2347,625,2368,2368,4094,0,0,0,0,0,0,25.82,24.37,25.85,9.91,35.07
$FINISH2,0.5
$STATE,1013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,040832
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.19
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,8.5
$24V_AH,23.52,12.008
$10V_AH,8.78,9.753
$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,38.700,51.700,53.125,0.000,0.000,23.313,18.833,153.184,0.500,0.000,15.954,252.529,0.000,121.203,897.842,39.010,33.436,421.587,0.000,691.912,0.000,7.323,0.000
$DEVICE_MAMPS,414.661,4253.379,4424.706,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.376,88.260,148.386,391.853,667.267,0.000,0.000,0.000,0.000,0.000
$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,7456,69
$CAP_FILE_SIZE,27075,12
$CFSIZE,1024409600,1013694464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,045650,5713.271,-16527.227,5,0.9,14,10.8,1.2,335.5,9,4.9