version: 66.12
glider: 401
mission: 20
dive: 132
start: 4 30 117 17 56 57
data:
$ID,401
$MISSION,20
$DIVE,132
$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,14
$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
$GPS1,300417,174803,5711.8340,-16513.3164,13,0.9,38,11.0,0.9,335.0,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-39.9
$GPS2,300417,175556,5711.9126,-16513.3379,5,0.7,14,11.0,0.6,104.2,11,4.6
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.219,-16454.637
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165155,-0.326035
$KALMAN_X,-7415.823242,1310.896851,123.623055,38099.847656,-56.700943
$KALMAN_Y,8710.966797,-238.543610,-162.628860,-13253.811523,339.706665
$MHEAD_RNG_PITCHd_Wd,99.0,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.72,-439.9,231,2012,1648,4094,0.0,0.0,0,36,0.00,0.00,-9.88,0.000,16390,0.000,0.000,231,2012,2691,2691,4094,0,0,0,0,0,0,26.01,25.17,26.02,9.91,35.86
$GC,38,-1.72,-439.9,231,2012,2691,4095,0.7,0.0,1,68,20.58,3.92,0.00,0.000,2564,0.407,0.238,1849,604,2694,2694,4095,0,0,0,0,0,0,25.39,25.36,25.47,10.12,36.65
$GC,109,-1.72,-439.9,1848,605,2695,4095,21.8,-29.3,6,123,0.00,3.78,0.00,0.000,1030,0.000,0.139,1849,2023,2696,2696,4094,0,0,0,0,0,0,25.59,25.53,25.63,10.13,36.13
$GC,187,-1.72,-439.9,1848,2022,2697,4094,32.1,-12.8,12,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2022,2697,2697,4095,0,0,0,0,0,0,25.97,25.98,25.98,10.13,34.99
$GC,267,-1.72,-439.9,1848,2022,2698,4094,41.5,-11.7,18,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2022,2699,2699,4095,0,0,0,0,0,0,26.06,26.07,26.07,10.12,35.31
$GC,351,-1.72,-439.9,1848,2022,2700,4094,51.1,-11.8,24,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2022,2700,2700,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,34.72
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,418,-0.45,0.0,1848,2022,2702,4094,59.4,-11.9,29,465,4.55,0.00,26.70,4.415,10244,0.216,0.000,2256,2023,2173,2173,4094,0,0,0,0,0,0,25.86,24.67,23.87,10.12,34.72
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,467,1.72,439.9,2256,2023,2173,4094,62.4,0.0,32,518,7.70,4.10,26.33,4.360,10756,0.154,0.258,2960,606,1661,1661,4094,0,0,0,0,0,0,25.22,25.12,23.51,10.01,34.60
$GC,534,1.72,439.9,2959,606,1660,4094,58.9,7.9,36,552,0.00,3.85,0.00,0.000,1030,0.000,0.129,2960,2027,1660,1660,4094,0,0,0,0,0,0,25.03,24.98,25.06,9.91,34.36
$GC,618,1.72,439.9,2959,2027,1657,4094,47.6,13.8,42,634,0.00,4.18,0.00,0.000,260,0.000,0.286,2960,3440,1657,1657,4094,0,0,0,0,0,0,25.58,25.18,25.60,9.91,34.48
$GC,697,1.72,439.9,2959,3440,1655,4094,35.1,16.5,48,715,0.00,3.75,0.00,0.000,1030,0.000,0.124,2960,2043,1655,1655,4095,0,0,0,0,0,0,25.51,25.45,25.53,9.90,34.36
$GC,781,1.72,439.9,2959,2043,1652,4094,22.8,13.6,54,797,0.00,4.10,0.00,0.000,516,0.000,0.271,2960,607,1652,1652,4094,0,0,0,0,0,0,25.87,25.45,25.89,9.91,34.01
$GC,825,1.72,439.9,2960,607,1651,4094,16.5,14.1,57,843,0.00,3.80,0.00,0.000,1030,0.000,0.137,2960,2043,1650,1650,4094,0,0,0,0,0,0,25.67,25.60,25.69,9.91,34.52
$GC,909,1.72,439.9,2960,2043,1648,4094,5.0,13.6,63,925,0.00,4.07,0.00,0.000,260,0.000,0.291,2960,3443,1648,1648,4094,0,0,0,0,0,0,26.01,25.58,26.02,9.90,34.52
$STATE,939,end climb,FINISH_DEPTH_REACHED
$STATE,939,begin subsurface finish
$FINISH1,0.6,1.025300,-161
$GC,948,-0.26,-161.0,2960,2024,1647,4094,0.6,13.6,65,965,6.62,0.00,-6.60,0.000,20486,0.117,0.000,2334,2024,2368,2368,4095,0,0,0,0,0,0,25.78,24.63,25.81,9.91,34.72
$FINISH2,-0.1
$STATE,966,end subsurface finish,CONTROL_FINISHED_OK
$STATE,966,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,174910
$TT8_MAMPS,0.026215,0.262899
$HUMID,34.68
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.51,14.586
$10V_AH,8.75,10.742
$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,39.450,39.350,53.025,0.000,0.000,50.904,41.144,222.852,0.500,0.000,15.911,240.221,60.315,113.213,1003.201,45.737,33.433,383.095,0.000,665.966,0.000,9.198,0.000
$DEVICE_MAMPS,407.212,290.511,4414.774,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.574,84.506,141.914,378.218,641.769,0.000,0.000,0.000,0.000,0.000
$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,7417,66
$CAP_FILE_SIZE,28080,13
$CFSIZE,1024409600,1012023296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,175556,5711.913,-16513.338,5,0.7,14,11.0,0.6,104.2,11,4.6