version: 66.12
glider: 401
mission: 20
dive: 134
start: 4 30 117 18 41 32
data:
$ID,401
$MISSION,20
$DIVE,134
$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,23
$R_STBD_OVSHOOT,11
$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
$GPS1,300417,183521,5712.1450,-16512.4863,4,0.9,14,11.0,0.0,343.8,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-41.6
$GPS2,300417,184031,5712.1963,-16512.4922,5,0.9,18,11.0,0.7,115.8,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.503,-16453.789
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.104014,-0.350244
$KALMAN_X,-7123.992676,1326.635620,180.640106,38578.796875,40.193390
$KALMAN_Y,9456.636719,-41.921768,96.838326,-13929.623047,360.205322
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-439.9,232,2010,1646,4094,0.0,0.0,0,34,0.00,0.00,-9.68,0.000,16390,0.000,0.000,232,2010,2690,2690,4095,0,0,0,0,0,0,26.01,25.18,26.03,9.90,35.54
$GC,36,-1.72,-439.9,232,2010,2690,4095,0.7,0.0,1,68,20.55,3.88,0.00,0.000,2564,0.407,0.236,1849,608,2692,2692,4094,0,0,0,0,0,0,25.46,25.43,25.54,10.12,36.17
$GC,96,-1.72,-439.9,1848,608,2692,4094,18.8,-30.6,5,114,0.00,3.78,0.00,0.000,1030,0.000,0.142,1849,2029,2694,2694,4095,0,0,0,0,0,0,25.63,25.58,25.69,10.13,35.35
$GC,180,-1.72,-439.9,1848,2029,2694,4095,29.9,-12.7,11,196,0.00,4.15,0.00,0.000,260,0.000,0.310,1849,3438,2695,2695,4095,0,0,0,0,0,0,26.01,25.56,26.02,10.12,35.27
$GC,212,-1.72,-439.9,1848,3438,2695,4094,33.6,-12.0,13,227,0.00,3.72,0.00,0.000,1030,0.000,0.132,1849,2035,2696,2696,4094,0,0,0,0,0,0,25.78,25.74,25.82,10.12,35.74
$GC,289,-1.72,-439.9,1848,2035,2696,4094,42.5,-11.5,19,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2035,2697,2697,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.12,34.80
$GC,372,-1.72,-439.9,1848,2034,2698,4095,52.2,-12.2,25,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2035,2699,2699,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.11,34.72
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,420,-0.45,0.0,1849,2033,2700,4094,58.2,-12.6,28,466,4.55,0.00,26.48,4.370,10244,0.214,0.000,2257,2032,2175,2175,4094,0,0,0,0,0,0,25.88,24.70,23.89,10.11,35.23
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,468,1.72,439.9,2257,2032,2175,4094,61.5,0.0,31,515,7.65,0.00,26.17,4.325,11270,0.139,0.000,2958,2033,1662,1662,4094,0,0,0,0,0,0,25.34,25.53,23.53,10.00,34.40
$GC,579,1.72,439.9,2957,2033,1660,4094,52.1,13.0,39,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2033,1658,1658,4094,0,0,0,0,0,0,25.49,25.51,25.50,9.90,33.85
$GC,658,1.72,439.9,2957,2033,1657,4094,41.2,13.4,45,673,0.00,4.15,0.00,0.000,260,0.000,0.276,2958,3440,1657,1657,4094,0,0,0,0,0,0,25.70,25.29,25.71,9.90,33.97
$GC,700,1.72,439.9,2958,3440,1656,4094,34.6,15.2,48,718,0.00,3.80,0.00,0.000,1030,0.000,0.124,2958,2024,1655,1655,4094,0,0,0,0,0,0,25.52,25.47,25.55,9.90,33.97
$GC,784,1.72,439.9,2958,2024,1653,4094,21.9,14.1,54,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2024,1653,1653,4094,0,0,0,0,0,0,25.89,25.90,25.90,9.91,34.28
$GC,861,1.72,439.9,2958,2024,1651,4094,11.4,13.6,60,876,0.00,4.03,0.00,0.000,516,0.000,0.268,2958,610,1651,1651,4094,0,0,0,0,0,0,25.98,25.55,25.99,9.91,34.36
$GC,903,1.72,439.9,2958,609,1649,4094,5.4,14.0,63,918,0.00,3.75,0.00,0.000,1030,0.000,0.142,2958,2026,1649,1649,4094,0,0,0,0,0,0,25.75,25.70,25.78,9.91,34.52
$STATE,933,end climb,FINISH_DEPTH_REACHED
$STATE,933,begin subsurface finish
$FINISH1,1.1,1.025298,-161
$GC,938,-0.26,-160.9,2958,2035,1649,4094,1.1,14.6,65,967,6.45,4.35,-7.12,0.000,20740,0.112,4.256,2347,3435,2368,2368,4094,0,0,1,0,0,0,25.78,24.30,25.82,9.91,34.72
$FINISH2,0.1
$STATE,968,end subsurface finish,CONTROL_FINISHED_OK
$STATE,968,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,175251
$TT8_MAMPS,0.026215,0.265146
$HUMID,34.72
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,8.5
$24V_AH,23.53,14.739
$10V_AH,8.75,10.798
$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,39.200,35.600,52.650,0.000,0.000,23.751,18.723,169.519,0.500,0.000,19.603,244.536,0.000,111.909,902.643,43.532,33.438,397.942,0.000,663.765,0.000,7.325,0.000
$DEVICE_MAMPS,407.212,4255.862,4370.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.062,85.707,144.052,374.495,639.008,0.000,0.000,0.000,0.000,0.000
$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,7375,67
$CAP_FILE_SIZE,25427,9
$CFSIZE,1024409600,1011924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,300417,184031,5712.196,-16512.492,5,0.9,18,11.0,0.7,115.8,10,4.9