version: 66.12
glider: 401
mission: 20
dive: 112
start: 4 30 117 10 14 47
data:
$ID,401
$MISSION,20
$DIVE,112
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,300417,100847,5713.5830,-16518.0859,4,0.8,14,10.9,0.7,123.1,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-39.9
$GPS2,300417,101346,5713.5542,-16518.0215,5,0.8,18,10.9,1.4,143.5,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.861,-16459.307
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.363221,-0.040614
$KALMAN_X,-5936.928223,1507.157471,1332.151855,30517.220703,148.989136
$KALMAN_Y,10278.283203,925.795532,528.738525,-13616.870117,-164.678864
$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,16,-1.72,-439.9,231,2006,1512,4094,0.0,0.0,0,34,0.00,0.00,-10.98,0.000,16390,0.000,0.000,231,2006,2691,2691,4095,0,0,0,0,0,0,25.97,25.18,25.98,9.88,35.39
$GC,35,-1.72,-439.9,231,2006,2691,4094,0.8,0.0,1,64,20.58,0.00,0.00,0.000,2054,0.410,0.000,1850,1998,2693,2693,4095,0,0,0,0,0,0,25.44,25.57,25.51,10.13,35.50
$GC,127,-1.72,-439.9,1850,1998,2695,4095,21.9,-13.3,8,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1998,2695,2695,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.13,35.58
$GC,207,-1.72,-439.9,1849,1998,2697,4095,31.9,-13.2,14,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1998,2697,2697,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.13,35.66
$GC,283,-1.72,-439.9,1850,1998,2698,4095,41.1,-11.8,20,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1998,2698,2698,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.12,35.31
$GC,364,-1.72,-439.9,1850,1998,2701,4094,50.5,-12.1,26,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1998,2700,2700,4094,0,0,0,0,0,0,26.15,26.15,26.15,10.11,34.68
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,432,-0.45,0.0,1850,2034,2702,4094,59.0,-12.8,31,475,4.55,0.00,26.75,4.375,10244,0.221,0.000,2256,2035,2173,2173,4094,0,0,0,0,0,0,25.88,24.68,23.89,10.12,34.60
$STATE,476,end apogee,CONTROL_FINISHED_OK
$STATE,476,begin climb
$GC,477,1.72,439.9,2256,2035,2174,4094,61.9,0.0,34,520,7.53,0.00,26.48,4.303,11270,0.139,0.000,2943,2035,1660,1660,4094,0,0,0,0,0,0,25.30,25.50,23.52,10.00,34.44
$GC,582,1.72,439.9,2942,2034,1659,4094,53.3,12.2,42,597,0.00,4.12,0.00,0.000,516,0.000,0.266,2943,624,1658,1658,4094,0,0,0,0,0,0,25.46,25.08,25.47,9.90,34.24
$GC,624,1.72,439.9,2943,624,1657,4094,47.6,13.2,45,642,0.00,3.70,0.00,0.000,1030,0.000,0.134,2943,2006,1657,1657,4094,0,0,0,0,0,0,25.36,25.30,25.38,9.90,34.01
$GC,708,1.72,439.9,2943,2006,1655,4094,36.3,13.4,51,724,0.00,4.20,0.00,0.000,260,0.000,0.286,2943,3437,1654,1654,4094,0,0,0,0,0,0,25.77,25.34,25.77,9.90,34.24
$GC,751,1.72,439.9,2943,3437,1653,4094,30.0,14.4,54,766,0.00,3.75,0.00,0.000,1030,0.000,0.127,2943,2035,1653,1653,4094,0,0,0,0,0,0,25.58,25.52,25.60,9.90,34.20
$GC,829,1.72,439.9,2942,2035,1651,4094,20.1,12.5,60,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2035,1651,1651,4094,0,0,0,0,0,0,25.93,25.94,25.94,9.91,34.09
$GC,906,1.72,439.9,2943,2035,1649,4094,10.2,13.0,66,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2035,1649,1649,4094,0,0,0,0,0,0,26.01,26.02,26.02,9.90,34.60
$STATE,958,end climb,FINISH_DEPTH_REACHED
$STATE,958,begin subsurface finish
$FINISH1,1.7,1.025319,-162
$GC,963,-0.26,-162.3,2943,2035,1647,4094,1.7,16.1,70,979,6.55,0.00,-6.85,0.000,20486,0.189,0.000,2344,2035,2370,2370,4094,0,0,0,0,0,0,25.83,24.65,25.86,9.91,34.87
$FINISH2,0.3
$STATE,980,end subsurface finish,CONTROL_FINISHED_OK
$STATE,980,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,092606
$TT8_MAMPS,0.026215,0.257656
$HUMID,35.58
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,8.4
$24V_AH,23.52,13.063
$10V_AH,8.76,10.157
$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,39.200,15.825,53.225,0.000,0.000,29.532,19.923,164.203,0.500,0.000,20.143,251.055,0.000,91.180,921.564,39.995,33.437,353.922,0.000,691.747,0.000,7.324,0.000
$DEVICE_MAMPS,409.695,476.736,4375.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.166,90.971,152.683,386.335,665.954,0.000,0.000,0.000,0.000,0.000
$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,7397,71
$CAP_FILE_SIZE,24200,3
$CFSIZE,1024409600,1013006336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,101346,5713.554,-16518.021,5,0.8,18,10.9,1.4,143.5,10,4.8