version: 66.12
glider: 401
mission: 20
dive: 136
start: 4 30 117 19 26 56
data:
$ID,401
$MISSION,20
$DIVE,136
$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,16
$R_STBD_OVSHOOT,16
$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
$GPS1,300417,192037,5712.3774,-16511.5195,3,0.9,19,11.0,0.6,34.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-40.7
$GPS2,300417,192555,5712.4224,-16511.4922,5,0.9,17,11.0,0.0,0.0,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.729,-16452.787
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.094749,-0.352844
$KALMAN_X,-6673.471191,1411.320557,311.370056,38912.257812,138.270630
$KALMAN_Y,10185.427734,172.303024,335.146545,-14690.351562,331.655090
$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,-439.9,242,2040,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.62,0.000,16390,0.000,0.000,242,2040,2690,2690,4094,0,0,0,0,0,0,26.00,25.16,26.01,9.91,35.82
$GC,35,-1.72,-439.9,242,2040,2690,4094,0.9,0.0,1,73,20.35,4.03,0.00,0.000,2564,0.415,0.228,1849,607,2693,2693,4095,0,0,0,0,0,0,25.44,25.41,25.51,10.12,35.90
$GC,101,-1.72,-439.9,1848,607,2694,4095,19.2,-28.8,5,116,0.00,3.75,0.00,0.000,1030,0.000,0.139,1849,2017,2694,2694,4094,0,0,0,0,0,0,25.62,25.58,25.66,10.12,36.13
$GC,178,-1.72,-439.9,1848,2017,2696,4094,29.4,-13.0,11,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2017,2696,2696,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.13,35.50
$GC,254,-1.72,-439.9,1848,2017,2697,4094,38.1,-11.6,17,269,0.00,4.18,0.00,0.000,260,0.000,0.305,1849,3445,2698,2698,4094,0,0,0,0,0,0,26.07,25.60,26.08,10.12,34.99
$GC,296,-1.72,-439.9,1848,3444,2698,4094,43.2,-12.0,20,311,0.00,3.78,0.00,0.000,1030,0.000,0.129,1849,2019,2698,2698,4094,0,0,0,0,0,0,25.84,25.81,25.88,10.12,35.07
$GC,379,-1.72,-439.9,1848,2019,2700,4094,52.8,-11.7,26,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2019,2700,2700,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,35.19
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,427,-0.45,0.0,1849,2015,2701,4094,58.5,-12.1,29,461,4.55,0.00,26.48,4.380,10244,0.214,0.000,2257,2015,2174,2174,4094,0,0,0,0,0,0,25.88,25.01,23.89,10.12,34.48
$STATE,462,end apogee,CONTROL_FINISHED_OK
$STATE,462,begin climb
$GC,463,1.72,439.9,2257,2015,2174,4094,61.4,0.0,31,510,7.55,0.00,26.12,4.288,11270,0.142,0.000,2943,2015,1662,1662,4094,0,0,0,0,0,0,25.27,25.45,23.51,10.01,34.32
$GC,573,1.72,439.9,2943,2015,1660,4094,51.7,12.7,39,587,0.00,4.22,0.00,0.000,260,0.000,0.266,2943,3447,1660,1660,4095,0,0,0,0,0,0,25.48,25.08,25.48,9.91,33.85
$GC,616,1.72,439.9,2943,3447,1659,4094,45.1,14.8,42,630,0.00,3.80,0.00,0.000,1030,0.000,0.124,2943,2040,1658,1658,4094,0,0,0,0,0,0,25.37,25.32,25.39,9.91,33.93
$GC,693,1.72,439.9,2943,2040,1657,4094,34.4,13.0,48,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2040,1656,1656,4094,0,0,0,0,0,0,25.76,25.77,25.77,9.91,34.80
$GC,771,1.72,439.9,2943,2040,1654,4094,23.5,13.6,54,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2040,1653,1653,4094,0,0,0,0,0,0,25.88,25.89,25.89,9.91,34.80
$GC,850,1.72,439.9,2943,2041,1652,4094,13.0,13.2,60,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2041,1651,1651,4094,0,0,0,0,0,0,25.97,25.98,25.98,9.91,34.24
$STATE,929,end climb,FINISH_DEPTH_REACHED
$STATE,929,begin subsurface finish
$FINISH1,1.9,1.025295,-161
$GC,934,-0.26,-160.6,2943,2040,1649,4094,1.9,14.1,66,950,6.45,0.00,-7.10,0.000,20486,0.159,0.000,2344,2039,2366,2366,4095,0,0,0,0,0,0,25.82,24.65,25.84,9.91,34.68
$FINISH2,0.2
$STATE,951,end subsurface finish,CONTROL_FINISHED_OK
$STATE,951,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,183624
$TT8_MAMPS,0.026215,0.247919
$HUMID,35.58
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,8.5
$24V_AH,23.51,14.887
$10V_AH,8.81,10.856
$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,38.900,23.750,52.600,0.000,0.000,25.791,31.345,167.658,0.500,0.000,18.622,248.075,0.000,101.308,900.349,43.032,33.435,357.793,0.000,653.900,0.000,7.323,0.000
$DEVICE_MAMPS,414.661,305.409,4380.012,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.435,85.834,144.060,362.495,628.968,0.000,0.000,0.000,0.000,0.000
$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,7362,67
$CAP_FILE_SIZE,24265,7
$CFSIZE,1024409600,1011826688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,192555,5712.422,-16511.492,5,0.9,17,11.0,0.0,0.0,10,4.7