version: 66.12
glider: 401
mission: 20
dive: 100
start: 4 30 117 5 42 42
data:
$ID,401
$MISSION,20
$DIVE,100
$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,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
$GPS1,300417,053641,5713.5557,-16526.4531,4,0.9,15,10.9,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-38.1
$GPS2,300417,054141,5713.6201,-16526.4512,5,0.8,19,10.9,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.927,-16507.736
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038063,-0.363554
$KALMAN_X,-8183.369141,-94.251808,-530.492188,27782.447266,168.466125
$KALMAN_Y,7502.373535,224.192413,226.152557,-9735.617188,391.591003
$MHEAD_RNG_PITCHd_Wd,99.1,20000,-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,-439.9,231,2019,1605,4094,0.0,0.0,0,33,0.00,0.00,-10.12,0.000,16390,0.000,0.000,232,2019,2693,2693,4094,0,0,0,0,0,0,26.01,25.19,26.03,9.90,35.31
$GC,34,-1.72,-439.9,231,2019,2693,4094,0.7,0.0,1,63,20.45,0.00,0.00,0.000,2054,0.402,0.000,1849,2019,2696,2696,4094,0,0,0,0,0,0,25.49,25.64,25.56,10.12,36.10
$GC,126,-1.72,-439.9,1848,2019,2697,4095,22.6,-16.4,8,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2019,2697,2697,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.13,35.50
$GC,208,-1.72,-439.9,1848,2019,2699,4094,33.1,-12.9,14,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2019,2700,2700,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.13,35.15
$GC,286,-1.72,-439.9,1848,2019,2701,4094,43.0,-12.2,20,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2019,2701,2701,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.12,34.80
$GC,371,-1.72,-439.9,1848,2019,2703,4095,54.0,-12.7,26,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2019,2703,2703,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,35.43
$STATE,406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,406,begin apogee
$GC,409,-0.45,0.0,1848,2019,2704,4094,58.2,-12.3,28,443,4.53,0.00,26.62,4.335,10246,0.216,0.000,2255,2019,2173,2173,4094,0,0,0,0,0,0,25.89,25.02,23.92,10.12,34.91
$STATE,444,end apogee,CONTROL_FINISHED_OK
$STATE,444,begin climb
$GC,445,1.72,439.9,2255,2019,2173,4095,60.8,0.0,30,483,7.55,0.00,26.02,4.253,10246,0.142,0.000,2945,2019,1661,1661,4094,0,0,0,0,0,0,25.27,24.54,23.52,10.01,34.72
$GC,545,1.72,439.9,2944,2019,1659,4094,53.0,11.8,37,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2019,1659,1659,4094,0,0,0,0,0,0,25.45,25.46,25.46,9.91,33.89
$GC,621,1.72,439.9,2944,2019,1657,4094,42.5,14.0,43,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2019,1657,1657,4094,0,0,0,0,0,0,25.67,25.69,25.69,9.91,34.24
$GC,701,1.72,439.9,2944,2019,1655,4094,31.3,14.3,49,715,0.00,4.15,0.00,0.000,260,0.000,0.281,2945,3438,1655,1655,4094,0,0,0,0,0,0,25.82,25.40,25.84,9.90,34.13
$GC,754,1.72,439.9,2944,3438,1653,4094,23.5,14.6,53,769,0.00,3.78,0.00,0.000,1030,0.000,0.127,2945,2026,1653,1653,4094,0,0,0,0,0,0,25.64,25.58,25.67,9.91,34.28
$GC,831,1.72,439.9,2944,2026,1651,4094,13.1,13.0,59,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2026,1651,1651,4094,0,0,0,0,0,0,25.98,25.99,25.99,9.91,34.64
$GC,908,1.84,513.3,2944,2026,1649,4094,5.0,8.6,65,924,0.32,3.97,5.22,1.659,10756,0.156,0.266,2981,607,1572,1572,4094,0,0,0,0,0,0,25.80,25.30,24.77,9.91,34.56
$STATE,939,end climb,FINISH_DEPTH_REACHED
$STATE,940,begin subsurface finish
$FINISH1,-0.1,1.004196,0
$GC,948,0.00,0.0,2981,2026,1572,4094,-0.1,12.7,67,965,6.00,0.00,-5.88,0.000,20486,0.179,0.000,2432,2027,2181,2181,4094,0,0,0,0,0,0,25.76,24.63,25.78,9.90,35.03
$FINISH2,0.5
$STATE,966,end subsurface finish,CONTROL_FINISHED_OK
$STATE,966,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,045317
$TT8_MAMPS,0.026215,0.249417
$HUMID,35.15
$INTERNAL_PRESSURE,9.95511
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,23.52,12.161
$10V_AH,8.81,9.808
$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,38.850,15.675,57.875,0.000,0.000,23.006,16.052,171.991,1.000,0.000,20.848,251.989,0.000,99.831,900.191,38.119,33.430,350.244,0.000,665.277,0.000,11.478,0.000
$DEVICE_MAMPS,402.246,280.579,4335.318,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.256,87.183,146.242,371.671,640.358,0.000,0.000,0.000,0.000,0.000
$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,7392,68
$CAP_FILE_SIZE,24141,7
$CFSIZE,1024409600,1013596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,300417,054141,5713.620,-16526.451,5,0.8,19,10.9,0.0,0.0,10,4.9