version: 66.12
glider: 401
mission: 20
dive: 130
start: 4 30 117 17 7 57
data:
$ID,401
$MISSION,20
$DIVE,130
$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,6
$R_STBD_OVSHOOT,17
$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
$GPS1,300417,170012,5711.5493,-16513.8867,3,0.8,21,10.9,1.1,259.5,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-38.1
$GPS2,300417,170656,5711.6055,-16513.9453,5,0.8,25,10.9,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.912,-16455.246
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.248237,-0.268239
$KALMAN_X,-7493.669922,1362.290283,152.628448,37491.171875,-148.167496
$KALMAN_Y,8001.630859,-399.050171,-418.683105,-12694.769531,267.328064
$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,-439.9,231,2034,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.85,0.000,16390,0.000,0.000,231,2034,2693,2693,4095,0,0,0,0,0,0,26.03,25.24,26.05,9.90,35.82
$GC,35,-1.72,-439.9,231,2034,2693,4094,0.8,0.0,1,73,20.50,4.03,0.00,0.000,2564,0.415,0.231,1849,595,2696,2696,4095,0,0,0,0,0,0,25.48,25.45,25.56,10.11,35.94
$GC,123,-1.72,-439.9,1848,595,2696,4094,21.7,-17.8,7,138,0.00,3.78,0.00,0.000,1030,0.000,0.139,1849,2020,2697,2697,4094,0,0,0,0,0,0,25.70,25.66,25.72,10.12,35.74
$GC,201,-1.72,-439.9,1848,2020,2698,4094,31.4,-12.5,13,220,0.00,4.20,0.00,0.000,260,0.000,0.313,1849,3445,2699,2699,4095,0,0,0,0,0,0,26.05,25.58,26.06,10.12,35.39
$GC,235,-1.72,-439.9,1848,3446,2699,4094,35.6,-12.5,15,250,0.00,3.80,0.00,0.000,1030,0.000,0.134,1849,2016,2699,2699,4094,0,0,0,0,0,0,25.81,25.77,25.84,10.12,35.50
$GC,313,-1.72,-439.9,1849,2016,2701,4094,44.8,-11.9,21,332,0.00,3.97,0.00,0.000,516,0.000,0.268,1849,610,2701,2701,4094,0,0,0,0,0,0,26.13,25.68,26.15,10.12,34.76
$GC,348,-1.72,-439.9,1848,609,2702,4094,49.2,-12.6,23,368,0.00,3.75,0.00,0.000,1030,0.000,0.146,1849,2031,2702,2702,4094,0,0,0,0,0,0,25.88,25.82,25.91,10.12,35.15
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,423,-0.45,0.0,1849,2031,2703,4095,58.3,-11.9,28,471,4.55,0.00,26.70,4.360,10244,0.216,0.000,2256,2031,2173,2173,4094,0,0,0,0,0,0,25.89,24.70,23.91,10.13,34.60
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,473,1.72,439.9,2256,2031,2173,4094,60.9,0.0,31,511,7.50,0.00,25.92,4.291,11270,0.132,0.000,2945,2031,1661,1661,4094,0,0,0,0,0,0,25.34,25.53,23.54,10.01,35.03
$GC,573,1.72,439.9,2945,2031,1659,4094,53.3,11.8,38,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2031,1659,1659,4094,0,0,0,0,0,0,25.46,25.47,25.47,9.91,33.73
$GC,654,1.72,439.9,2945,2031,1657,4094,42.1,14.0,44,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2031,1657,1657,4094,0,0,0,0,0,0,25.68,25.70,25.70,9.90,34.28
$GC,731,1.72,439.9,2945,2031,1655,4094,31.9,13.4,50,749,0.00,4.07,0.00,0.000,516,0.000,0.263,2945,608,1655,1655,4094,0,0,1,0,0,0,25.82,25.41,25.84,9.90,34.48
$GC,777,1.72,439.9,2945,608,1654,4094,25.6,13.6,53,791,0.00,3.75,0.00,0.000,1030,0.000,0.137,2945,2025,1653,1653,4094,0,0,0,0,0,0,25.62,25.58,25.67,9.91,34.17
$GC,855,1.72,439.9,2945,2025,1651,4094,15.5,12.7,59,873,0.00,4.10,0.00,0.000,260,0.000,0.283,2945,3434,1650,1650,4094,0,0,0,0,0,0,25.97,25.53,25.98,9.90,34.28
$GC,901,1.72,439.9,2945,3434,1650,4094,9.3,13.1,62,916,0.00,3.70,0.00,0.000,1030,0.000,0.127,2945,2044,1650,1650,4094,0,0,0,0,0,0,25.75,25.70,25.79,9.91,34.56
$STATE,955,end climb,FINISH_DEPTH_REACHED
$STATE,955,begin subsurface finish
$FINISH1,1.8,1.025309,-162
$GC,960,-0.26,-161.6,2945,2013,1648,4094,1.8,13.6,66,980,6.35,0.00,-6.93,0.000,20486,0.122,0.000,2346,2013,2369,2369,4094,0,0,0,0,0,0,25.80,24.65,25.84,9.91,34.56
$FINISH2,0.1
$STATE,981,end subsurface finish,CONTROL_FINISHED_OK
$STATE,981,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,161559
$TT8_MAMPS,0.026215,0.257656
$HUMID,35.31
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,8.4
$24V_AH,23.54,14.430
$10V_AH,8.75,10.682
$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,38.900,39.225,52.625,0.000,0.000,57.635,30.218,160.511,0.500,0.000,26.489,250.818,59.896,117.561,937.059,43.553,33.434,392.233,0.000,663.129,0.000,7.310,0.000
$DEVICE_MAMPS,414.661,667.927,4360.148,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.288,85.793,144.072,373.312,639.003,0.000,0.000,0.000,0.000,0.000
$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,7434,67
$CAP_FILE_SIZE,26929,12
$CFSIZE,1024409600,1012121600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,300417,170656,5711.605,-16513.945,5,0.8,25,10.9,0.0,0.0,10,5.0