version: 66.12
glider: 401
mission: 20
dive: 102
start: 4 30 117 6 27 24
data:
$ID,401
$MISSION,20
$DIVE,102
$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
$GPS1,300417,062128,5713.8359,-16525.3770,3,0.8,27,10.9,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-37.1
$GPS2,300417,062623,5713.8833,-16525.3340,5,0.8,38,10.9,0.7,227.7,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.190,-16506.615
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.340542,-0.132683
$KALMAN_X,-7604.662109,42.103210,-252.392029,27903.699219,318.359955
$KALMAN_Y,8310.081055,456.460510,470.746704,-10530.005859,360.784058
$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,-439.9,242,2034,1648,4095,0.0,0.0,0,34,0.00,0.00,-9.68,0.000,16390,0.000,0.000,242,2034,2689,2689,4094,0,0,0,0,0,0,26.06,25.22,26.07,9.90,35.35
$GC,35,-1.72,-439.9,242,2034,2689,4094,0.8,0.0,1,68,20.23,0.00,0.00,0.000,2054,0.400,0.000,1848,2026,2691,2691,4095,0,0,0,0,0,0,25.49,25.60,25.57,10.12,35.70
$GC,131,-1.72,-439.9,1848,2026,2693,4095,20.4,-11.7,8,149,0.00,4.00,0.00,0.000,516,0.000,0.251,1848,611,2693,2693,4094,0,0,1,0,0,0,25.98,25.56,25.99,10.12,35.31
$GC,165,-1.72,-439.9,1848,611,2693,4094,24.4,-11.6,10,183,0.00,3.72,0.00,0.000,1030,0.000,0.144,1848,2017,2694,2694,4094,0,0,0,0,0,0,25.75,25.71,25.78,10.13,35.11
$GC,248,-1.72,-439.9,1848,2018,2695,4095,34.7,-11.9,16,264,0.00,4.18,0.00,0.000,260,0.000,0.308,1848,3442,2696,2696,4094,0,0,0,0,0,0,26.09,25.63,26.10,10.12,35.07
$GC,279,-1.72,-439.9,1848,3441,2696,4094,38.3,-11.4,18,294,0.00,3.75,0.00,0.000,1030,0.000,0.137,1848,2030,2696,2696,4094,0,0,0,0,0,0,25.85,25.80,25.88,10.13,35.50
$GC,357,-1.72,-439.9,1848,2031,2697,4095,47.3,-11.5,24,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2031,2698,2698,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.12,34.99
$GC,437,-1.72,-439.9,1848,2031,2699,4095,56.7,-11.8,30,452,0.00,4.00,0.00,0.000,516,0.000,0.268,1848,611,2700,2700,4094,0,0,0,0,0,0,26.22,25.77,26.23,10.12,34.68
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,474,-0.45,0.0,1848,2025,2700,4094,60.8,-13.1,32,518,4.57,0.00,26.60,4.455,10244,0.223,0.000,2257,2025,2173,2173,4095,0,0,0,0,0,0,25.91,24.70,23.90,10.12,34.56
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,520,1.72,439.9,2256,2025,2173,4094,64.5,0.0,35,567,7.50,0.00,26.23,4.373,11270,0.132,0.000,2944,2025,1662,1662,4094,0,0,0,0,0,0,25.33,25.52,23.53,10.01,34.36
$GC,629,1.72,439.9,2943,2025,1660,4094,55.3,12.2,43,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2025,1660,1660,4094,0,0,0,0,0,0,25.49,25.51,25.51,9.90,33.65
$GC,706,1.72,439.9,2943,2025,1658,4094,45.2,13.0,49,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2025,1657,1657,4094,0,0,0,0,0,0,25.70,25.72,25.72,9.90,33.85
$GC,787,1.72,439.9,2943,2025,1656,4094,34.4,13.1,55,801,0.00,4.15,0.00,0.000,260,0.000,0.286,2944,3442,1655,1655,4094,0,0,0,0,0,0,25.84,25.41,25.85,9.90,34.01
$GC,853,1.72,439.9,2943,3443,1653,4094,24.7,15.3,60,871,0.00,3.75,0.00,0.000,1030,0.000,0.127,2944,2037,1653,1653,4094,0,0,0,0,0,0,25.67,25.61,25.70,9.90,34.28
$GC,937,1.72,439.9,2943,2037,1651,4094,13.7,12.4,66,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2037,1651,1651,4094,0,0,0,0,0,0,26.01,26.03,26.03,9.91,34.95
$STATE,1013,end climb,FINISH_DEPTH_REACHED
$STATE,1013,begin subsurface finish
$FINISH1,2.5,1.025307,-161
$GC,1018,-0.26,-161.5,2943,2032,1649,4094,2.5,13.9,72,1034,6.28,0.00,-6.70,0.000,20486,0.112,0.000,2345,2033,2369,2369,4094,0,0,0,0,0,0,25.86,24.68,25.89,9.91,35.15
$FINISH2,-0.0
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,053741
$TT8_MAMPS,0.026215,0.26215
$HUMID,35.54
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,8.4
$24V_AH,23.53,12.307
$10V_AH,8.78,9.868
$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,38.575,31.275,52.825,0.000,0.000,22.660,16.233,155.253,0.500,0.000,39.722,259.842,0.000,109.425,946.070,39.319,33.432,390.009,0.000,718.779,0.000,7.323,0.000
$DEVICE_MAMPS,399.763,307.892,4454.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.473,93.511,157.007,405.634,693.293,0.000,0.000,0.000,0.000,0.000
$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,7405,73
$CAP_FILE_SIZE,25858,9
$CFSIZE,1024409600,1013497856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,300417,062623,5713.883,-16525.334,5,0.8,38,10.9,0.7,227.7,10,4.9