version: 66.12
glider: 401
mission: 20
dive: 106
start: 4 30 117 7 58 33
data:
$ID,401
$MISSION,20
$DIVE,106
$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,14
$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
$GPS1,300417,075243,5714.1733,-16522.4688,4,0.8,14,10.9,0.6,63.4,11,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-39.4
$GPS2,300417,075731,5714.2007,-16522.3828,5,0.9,15,10.9,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.507,-16503.662
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.114767,-0.346936
$KALMAN_X,-6833.099609,565.410522,490.515320,28819.085938,394.395142
$KALMAN_Y,9494.736328,850.066040,775.890747,-11820.245117,222.646240
$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,-439.9,243,2029,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.57,0.000,16390,0.000,0.000,243,2030,2683,2683,4094,0,0,0,0,0,0,26.03,25.18,26.04,9.91,35.46
$GC,35,-1.72,-439.9,242,2030,2683,4094,0.9,0.0,1,72,20.17,0.00,0.00,0.000,2054,0.405,0.000,1850,2024,2686,2686,4094,1,0,0,0,0,0,25.39,25.58,25.53,10.12,35.70
$GC,134,-1.72,-439.9,1850,2024,2688,4094,22.3,-13.2,8,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2024,2688,2688,4095,0,0,0,0,0,0,25.97,25.98,25.98,10.12,35.82
$GC,216,-1.72,-439.9,1850,2024,2690,4094,32.3,-12.8,14,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2024,2690,2690,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.11,35.58
$GC,297,-1.72,-439.9,1850,2024,2691,4094,41.4,-11.3,20,316,0.00,4.15,0.00,0.000,260,0.000,0.303,1851,3443,2691,2691,4095,0,0,0,0,0,0,26.13,25.67,26.15,10.12,35.39
$GC,331,-1.72,-439.9,1850,3443,2692,4095,45.7,-12.1,22,350,0.00,3.75,0.00,0.000,1030,0.000,0.132,1851,2027,2692,2692,4094,0,0,0,0,0,0,25.88,25.88,25.92,10.12,35.66
$GC,419,-1.72,-439.9,1850,2027,2694,4095,56.2,-12.1,28,437,0.00,4.00,0.00,0.000,516,0.000,0.266,1851,606,2694,2694,4095,0,0,0,0,0,0,26.20,25.76,26.22,10.12,34.68
$STATE,452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,452,begin apogee
$GC,459,-0.45,0.0,1850,2029,2695,4094,60.4,-11.8,30,494,4.53,0.00,26.30,4.440,10244,0.223,0.000,2255,2029,2174,2174,4094,0,0,0,0,0,0,25.89,25.02,23.89,10.11,34.68
$STATE,495,end apogee,CONTROL_FINISHED_OK
$STATE,495,begin climb
$GC,496,1.72,439.9,2254,2029,2174,4094,64.2,0.0,32,534,7.55,0.00,26.15,4.368,11270,0.139,0.000,2945,2029,1661,1661,4094,0,0,0,0,0,0,25.29,25.47,23.50,10.01,34.20
$GC,597,1.72,439.9,2945,2029,1659,4094,56.0,12.9,39,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2029,1659,1659,4094,0,0,0,0,0,0,25.46,25.47,25.46,9.91,34.60
$GC,674,1.72,439.9,2944,2029,1657,4094,46.1,12.7,45,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2029,1656,1656,4094,0,0,0,0,0,0,25.68,25.70,25.69,9.90,34.60
$GC,755,1.72,439.9,2945,2029,1655,4094,35.3,13.7,51,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2029,1654,1654,4094,0,0,0,0,0,0,25.82,25.84,25.84,9.90,34.40
$GC,831,1.72,439.9,2945,2029,1653,4094,25.1,13.3,57,846,0.00,4.10,0.00,0.000,260,0.000,0.281,2945,3438,1652,1652,4094,0,0,0,0,0,0,25.93,25.49,25.94,9.90,34.24
$GC,897,1.72,439.9,2945,3438,1650,4094,15.2,15.4,62,915,0.00,3.72,0.00,0.000,1030,0.000,0.127,2945,2038,1650,1650,4094,0,0,0,0,0,0,25.74,25.70,25.77,9.91,34.52
$GC,981,1.72,439.9,2945,2038,1647,4094,3.6,12.8,68,997,0.00,4.05,0.00,0.000,516,0.000,0.271,2945,612,1647,1647,4094,0,0,0,0,0,0,26.07,25.61,26.08,9.91,35.15
$STATE,1012,end climb,FINISH_DEPTH_REACHED
$STATE,1012,begin subsurface finish
$FINISH1,0.1,1.025285,-160
$GC,1020,-0.26,-159.9,2945,2026,1647,4094,0.1,12.4,70,1037,6.40,0.00,-6.95,0.000,20486,0.107,0.000,2335,2028,2366,2366,4095,0,0,0,0,0,0,25.86,24.68,25.88,9.91,34.87
$FINISH2,0.1
$STATE,1038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,070933
$TT8_MAMPS,0.026215,0.250915
$HUMID,34.80
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,9.5
$24V_AH,23.50,12.603
$10V_AH,8.84,9.984
$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,38.650,31.275,52.450,0.000,0.000,24.622,22.979,161.398,0.500,0.000,16.967,260.450,0.000,121.507,928.045,41.139,33.430,389.608,0.000,707.346,0.000,7.327,0.000
$DEVICE_MAMPS,404.729,302.926,4439.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.258,91.009,152.695,399.097,682.903,0.000,0.000,0.000,0.000,0.000
$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,7385,71
$CAP_FILE_SIZE,25964,15
$CFSIZE,1024409600,1013301248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,1,0
$GPS,300417,075731,5714.201,-16522.383,5,0.9,15,10.9,0.0,0.0,10,4.9