version: 66.12
glider: 401
mission: 20
dive: 109
start: 4 30 117 9 3 55
data:
$ID,401
$MISSION,20
$DIVE,109
$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,11
$R_STBD_OVSHOOT,13
$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
$GPS1,300417,084415,5714.1489,-16520.7793,5,0.8,20,10.9,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,2.5
$GPS2,300417,084415,5714.1489,-16520.7793,5,0.8,20,10.9,0.0,0.0,11,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.456,-16502.061
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.250063,-0.266550
$KALMAN_X,-6631.827637,998.684937,927.621155,29386.566406,258.087585
$KALMAN_Y,10277.907227,1021.917053,757.035828,-12851.989258,116.322632
$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,-439.9,2344,2031,2370,4094,0.0,0.0,0,19,0.00,0.00,-1.83,0.000,16390,0.000,0.000,2344,2032,2698,2698,4095,0,0,0,0,0,0,26.17,24.66,26.13,10.05,35.11
$GC,21,-1.72,-439.9,2344,2031,2698,4094,0.0,0.0,0,35,5.28,0.00,0.00,0.000,4102,0.206,0.000,1867,2032,2698,2698,4094,0,0,0,0,0,0,25.88,25.94,25.91,10.13,35.27
$GC,99,-1.72,-439.9,1867,2031,2699,4095,10.4,-9.6,6,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2031,2700,2700,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,35.03
$GC,178,-1.72,-439.9,1867,2031,2701,4095,20.8,-12.6,12,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2031,2701,2701,4095,0,0,0,0,0,0,26.25,26.27,26.26,10.13,35.11
$GC,259,-1.72,-439.9,1866,2031,2702,4095,30.0,-11.0,18,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2031,2703,2703,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.12,34.87
$GC,340,-1.72,-439.9,1867,2031,2705,4094,39.0,-11.4,24,358,0.00,4.07,0.00,0.000,260,0.000,0.300,1867,3437,2705,2705,4094,0,0,0,0,0,0,26.33,25.86,26.34,10.11,35.62
$GC,386,-1.72,-439.9,1866,3437,2705,4094,44.1,-11.1,27,405,0.00,3.72,0.00,0.000,1030,0.000,0.132,1867,2016,2705,2705,4095,0,0,0,0,0,0,26.09,26.04,26.11,10.11,35.27
$GC,475,-1.72,-439.9,1867,2016,2707,4095,53.8,-11.2,33,494,0.00,3.92,0.00,0.000,516,0.000,0.263,1867,610,2708,2708,4094,0,0,0,0,0,0,26.37,25.93,26.39,10.11,35.50
$STATE,521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,521,begin apogee
$GC,528,-0.45,0.0,1867,2027,2708,4094,59.4,-11.6,36,563,4.32,0.00,26.75,4.392,10244,0.221,0.000,2256,2028,2174,2174,4094,0,0,0,0,0,0,26.06,25.16,24.05,10.11,34.95
$STATE,564,end apogee,CONTROL_FINISHED_OK
$STATE,564,begin climb
$GC,565,1.72,439.9,2256,2028,2174,4094,62.7,0.0,38,608,7.50,0.00,26.38,4.313,11270,0.139,0.000,2944,2028,1660,1660,4094,0,0,0,0,0,0,25.41,25.60,23.61,10.00,34.36
$GC,670,1.72,439.9,2943,2028,1658,4094,54.5,12.5,46,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2028,1658,1658,4094,0,0,0,0,0,0,25.53,25.54,25.54,9.90,33.93
$GC,746,1.72,439.9,2943,2028,1656,4094,44.0,13.7,52,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2028,1656,1656,4094,0,0,0,0,0,0,25.73,25.75,25.75,9.90,34.05
$GC,822,1.72,439.9,2943,2028,1654,4094,34.1,13.1,58,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2028,1654,1654,4094,0,0,0,0,0,0,25.86,25.88,25.87,9.90,34.17
$GC,898,1.72,439.9,2943,2028,1652,4094,24.0,12.8,64,917,0.00,4.10,0.00,0.000,260,0.000,0.286,2944,3436,1651,1651,4094,0,0,0,0,0,0,25.96,25.53,25.98,9.90,34.20
$GC,945,1.72,439.9,2943,3436,1650,4094,17.2,14.2,67,960,0.00,3.67,0.00,0.000,1030,0.000,0.124,2944,2052,1650,1650,4095,0,0,0,0,0,0,25.75,25.70,25.78,9.90,34.40
$GC,1022,1.72,439.9,2943,2052,1648,4095,6.3,13.3,73,1040,0.00,4.10,0.00,0.000,516,0.000,0.273,2944,610,1647,1647,4094,0,0,0,0,0,0,26.08,25.64,26.09,9.91,34.56
$STATE,1055,end climb,SURFACE_DEPTH_REACHED
$STATE,1055,begin surface coast
$FINISH,-0.1,1.002720
$STATE,1081,end surface coast,CONTROL_FINISHED_OK
$STATE,1082,begin surface
$SM_CCo,1181,0.00,0.000,0,0,1646,454.20
$SM_GC,0.89,28.67,3.78,0.00,0.104,0.149,0.000,242,2027,1646,-6.77,-0.77,454.20,0,0,1,0,0,0,25.81,25.79,25.89
$IRIDIUM_FIX,5744.64,-16600.79,300417,075345
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.27
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,10.0
$24V_AH,23.61,12.821
$10V_AH,8.80,10.071
$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,45.775,31.100,53.125,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,277.792,60.215,135.141,738.686,22.840,33.407,390.674,0.000,751.211,0.000,5.452,0.000
$DEVICE_MAMPS,220.987,300.443,4392.427,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.646,98.798,165.591,420.565,726.985,0.000,0.000,0.000,0.000,0.000
$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,7406,77
$CAP_FILE_SIZE,22309,10
$CFSIZE,1024409600,1013153792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,300417,092505,5713.910,-16519.377,4,0.9,56,10.9,0.9,211.9,8,3.0