version: 66.12
glider: 401
mission: 20
dive: 101
start: 4 30 117 6 0 35
data:
$ID,401
$MISSION,20
$DIVE,101
$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,15
$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
$GPS1,300417,054141,5713.6201,-16526.4512,5,0.8,19,10.9,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-4.2
$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,0.080243,-0.356497
$KALMAN_X,-8200.548828,-103.055725,-426.953033,27717.275391,148.548340
$KALMAN_Y,7737.810547,320.435669,332.688690,-10161.883789,338.504944
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,2432,2031,2182,4094,0.0,0.0,0,33,0.00,0.00,-3.90,0.000,16390,0.000,0.000,2432,2032,2694,2694,4094,0,0,0,0,0,0,26.08,25.27,26.08,10.01,35.27
$GC,34,-1.72,-439.9,2432,2031,2694,4095,1.2,0.0,1,49,6.07,0.00,0.00,0.000,4102,0.164,0.000,1881,2031,2694,2694,4095,0,0,0,0,0,0,25.50,25.58,25.53,10.13,35.50
$GC,112,-1.72,-439.9,1880,2031,2696,4094,12.6,-14.0,7,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2031,2696,2696,4095,0,0,0,0,0,0,25.92,25.94,25.94,10.12,35.19
$GC,188,-1.72,-439.9,1880,2031,2697,4094,20.9,-9.3,13,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2031,2697,2697,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.12,34.95
$GC,265,-1.72,-439.9,1880,2031,2698,4095,28.5,-9.9,19,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2031,2699,2699,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.12,34.99
$GC,343,-1.72,-439.9,1880,2031,2700,4095,37.0,-10.8,25,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2031,2700,2700,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.12,34.76
$GC,419,-1.72,-439.9,1880,2031,2702,4095,45.5,-10.7,31,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2032,2702,2702,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.11,34.91
$GC,505,-1.72,-439.9,1881,2031,2703,4094,54.5,-10.7,37,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2031,2703,2703,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.11,34.95
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,546,begin apogee
$GC,550,-0.45,0.0,1881,2031,2705,4094,59.0,-10.8,40,583,4.18,0.00,26.60,4.343,10246,0.209,0.000,2257,2031,2174,2174,4094,0,0,0,0,0,0,25.96,25.08,23.98,10.12,34.83
$STATE,584,end apogee,CONTROL_FINISHED_OK
$STATE,584,begin climb
$GC,586,1.72,439.9,2257,2032,2173,4094,61.4,0.0,42,623,7.47,0.00,26.02,4.261,10246,0.139,0.000,2943,2032,1661,1661,4095,0,0,0,0,0,0,25.32,24.58,23.57,10.01,34.87
$GC,686,1.72,439.9,2942,2031,1659,4094,53.5,12.1,49,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2031,1659,1659,4094,0,0,0,0,0,0,25.48,25.48,25.48,9.91,34.72
$GC,762,1.72,439.9,2942,2031,1657,4094,43.5,12.9,55,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2032,1657,1657,4094,0,0,0,0,0,0,25.69,25.70,25.70,9.91,34.28
$GC,842,1.72,439.9,2942,2031,1655,4094,33.0,13.2,61,860,0.00,4.12,0.00,0.000,260,0.000,0.283,2943,3435,1654,1654,4094,0,0,0,0,0,0,25.84,25.41,25.84,9.90,34.05
$GC,911,1.72,439.9,2942,3435,1653,4094,23.5,14.0,66,929,0.00,3.78,0.00,0.000,1030,0.000,0.129,2943,2023,1652,1652,4094,0,0,0,0,0,0,25.67,25.62,25.70,9.91,34.36
$GC,995,1.72,439.9,2942,2022,1650,4094,11.8,14.2,72,1011,0.00,4.03,0.00,0.000,516,0.000,0.278,2943,614,1650,1650,4094,0,0,0,0,0,0,26.01,25.58,26.02,9.91,34.40
$GC,1050,1.72,439.9,2942,613,1648,4094,3.1,15.6,76,1065,0.00,3.72,0.00,0.000,1030,0.000,0.144,2943,2025,1648,1648,4094,0,0,0,0,0,0,25.80,25.75,25.83,9.91,34.87
$STATE,1079,end climb,SURFACE_DEPTH_REACHED
$STATE,1079,begin surface coast
$FINISH,-0.1,1.025151
$STATE,1106,end surface coast,CONTROL_FINISHED_OK
$STATE,1106,begin surface
$SM_CCo,1202,0.00,0.000,0,0,1647,452.48
$SM_GC,0.80,28.67,0.00,0.00,0.104,0.000,0.000,243,2027,1647,-6.77,0.14,452.48,0,0,0,0,0,0,25.78,26.11,25.86
$IRIDIUM_FIX,5554.28,-16557.83,300417,045317
$TT8_MAMPS,0.026964,0.265146
$HUMID,35.27
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,8.5
$24V_AH,23.57,12.226
$10V_AH,8.83,9.837
$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,46.400,15.650,52.625,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,270.534,60.391,125.068,768.494,22.102,33.414,379.953,0.000,781.414,0.000,5.446,0.000
$DEVICE_MAMPS,208.572,283.062,4342.767,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.772,102.686,172.035,439.980,756.622,0.000,0.000,0.000,0.000,0.000
$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,7379,80
$CAP_FILE_SIZE,21182,8
$CFSIZE,1024409600,1013547008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,062128,5713.836,-16525.377,3,0.8,27,10.9,0.0,0.0,11,5.0