version: 66.12
glider: 401
mission: 20
dive: 118
start: 4 30 117 12 33 38
data:
$ID,401
$MISSION,20
$DIVE,118
$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,21
$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
$GPS1,300417,122556,5712.2046,-16515.5918,4,0.9,16,10.9,0.0,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-38.9
$GPS2,300417,123238,5712.1519,-16515.6270,6,0.8,23,10.9,0.7,162.9,11,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.458,-16456.924
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.261567,0.255443
$KALMAN_X,-6246.756348,1908.633789,1256.177612,32910.093750,-176.397583
$KALMAN_Y,8922.240234,302.708069,-267.380371,-13433.455078,-356.794159
$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,-439.9,232,2029,1648,4094,0.0,0.0,0,37,0.00,0.00,-9.65,0.000,16390,0.000,0.000,232,2029,2691,2691,4094,0,0,0,0,0,0,26.03,25.20,26.05,9.90,36.21
$GC,39,-1.72,-439.9,232,2029,2691,4094,0.8,0.0,1,73,20.45,3.97,0.00,0.000,2564,0.407,0.223,1849,615,2694,2694,4094,0,0,0,0,0,0,25.41,25.39,25.48,10.12,35.66
$GC,101,-1.72,-439.9,1848,615,2696,4095,20.9,-32.0,5,119,0.00,3.75,0.00,0.000,1030,0.000,0.139,1850,2021,2695,2695,4094,0,0,0,0,0,0,25.59,25.54,25.63,10.12,35.58
$GC,185,-1.72,-439.9,1849,2021,2697,4094,31.6,-12.3,11,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2021,2697,2697,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.12,35.23
$GC,262,-1.72,-439.9,1849,2021,2698,4094,40.6,-11.8,17,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2021,2699,2699,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.11,35.19
$GC,339,-1.72,-439.9,1849,2021,2701,4094,49.8,-12.2,23,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2022,2700,2700,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.11,34.80
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,409,begin apogee
$GC,412,-0.45,0.0,1849,2021,2702,4094,58.3,-12.1,28,446,4.57,0.00,26.58,4.345,10244,0.226,0.000,2256,2021,2174,2174,4094,0,0,0,0,0,0,25.86,24.99,23.90,10.11,34.83
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,447,begin climb
$GC,448,1.72,439.9,2256,2021,2173,4094,61.0,0.0,30,491,7.55,0.00,26.42,4.261,11270,0.142,0.000,2943,2021,1661,1661,4094,0,0,0,0,0,0,25.25,25.44,23.52,10.00,34.36
$GC,553,1.72,439.9,2942,2021,1660,4094,52.0,12.3,38,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2021,1659,1659,4094,0,0,0,0,0,0,25.46,25.48,25.47,9.90,34.17
$GC,633,1.72,439.9,2943,2021,1658,4094,41.3,13.4,44,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2021,1657,1657,4094,0,0,0,0,0,0,25.68,25.70,25.70,9.90,34.20
$GC,710,1.72,439.9,2943,2021,1655,4094,31.2,13.1,50,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2021,1655,1655,4094,0,0,0,0,0,0,25.82,25.83,25.83,9.90,34.13
$GC,790,1.72,439.9,2943,2021,1653,4094,21.0,12.3,56,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2021,1653,1653,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.90,34.28
$GC,870,1.72,439.9,2942,2021,1651,4094,11.3,12.0,62,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2021,1651,1651,4094,0,0,0,0,0,0,26.01,26.03,26.02,9.91,35.15
$STATE,935,end climb,FINISH_DEPTH_REACHED
$STATE,935,begin subsurface finish
$FINISH1,2.8,1.025318,-162
$GC,939,-0.26,-162.3,2943,2028,1649,4094,2.8,13.4,67,969,6.62,4.28,-6.88,0.000,20996,0.209,4.221,2345,613,2370,2370,4095,0,0,0,0,0,0,25.84,24.35,25.85,9.91,34.72
$FINISH2,-0.0
$STATE,970,end subsurface finish,CONTROL_FINISHED_OK
$STATE,971,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,114103
$TT8_MAMPS,0.026215,0.257656
$HUMID,34.95
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,8.5
$24V_AH,23.52,13.527
$10V_AH,8.76,10.332
$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,39.200,12.000,53.000,0.000,0.000,55.389,22.494,172.572,0.500,0.000,24.514,242.748,60.198,103.213,949.276,40.516,33.433,362.997,0.000,677.561,0.000,6.978,0.000
$DEVICE_MAMPS,407.212,4221.100,4345.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.933,88.430,148.394,378.943,652.589,0.000,0.000,0.000,0.000,0.000
$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,7391,69
$CAP_FILE_SIZE,23287,8
$CFSIZE,1024409600,1012711424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,123238,5712.152,-16515.627,6,0.8,23,10.9,0.7,162.9,11,4.9