version: 66.12
glider: 401
mission: 20
dive: 137
start: 4 30 117 19 44 35
data:
$ID,401
$MISSION,20
$DIVE,137
$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,15
$R_STBD_OVSHOOT,7
$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
$GPS1,300417,192555,5712.4224,-16511.4922,5,0.9,17,11.0,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,4.8
$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,0.158447,-0.329349
$KALMAN_X,-6732.940430,1397.040405,331.424957,38983.738281,174.196320
$KALMAN_Y,10414.713867,271.583862,419.510712,-15095.889648,262.275085
$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,-439.9,2344,2039,2367,4094,0.0,0.0,0,18,0.00,0.00,-1.42,0.000,16390,0.000,0.000,2345,2038,2702,2702,4094,0,0,0,0,0,0,26.15,24.64,26.10,10.05,35.15
$GC,20,-1.72,-439.9,2344,2038,2702,4095,0.0,0.0,0,38,5.35,0.00,0.00,0.000,4102,0.211,0.000,1863,2039,2702,2702,4094,0,0,0,0,0,0,25.86,25.93,25.93,10.12,35.11
$GC,100,-1.72,-439.9,1863,2039,2703,4094,14.6,-10.4,6,119,0.00,4.03,0.00,0.000,516,0.000,0.258,1863,606,2704,2704,4094,0,0,0,0,0,0,26.19,25.75,26.20,10.12,34.99
$GC,147,-1.72,-439.9,1863,605,2704,4094,20.4,-12.1,9,162,0.00,3.75,0.00,0.000,1030,0.000,0.142,1863,2034,2705,2705,4095,0,0,0,0,0,0,25.94,25.91,25.98,10.12,35.46
$GC,225,-1.72,-439.9,1863,2034,2706,4094,29.1,-10.8,15,240,0.00,4.10,0.00,0.000,260,0.000,0.313,1863,3438,2706,2706,4094,0,0,0,0,0,0,26.25,25.76,26.27,10.13,34.99
$GC,268,-1.72,-439.9,1863,3438,2707,4094,33.7,-10.7,18,283,0.00,3.72,0.00,0.000,1030,0.000,0.129,1863,2024,2707,2707,4094,0,0,0,0,0,0,26.01,25.97,26.04,10.12,34.64
$GC,345,-1.72,-439.9,1863,2023,2708,4094,41.8,-10.5,24,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2023,2708,2708,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.12,35.31
$GC,425,-1.72,-439.9,1863,2023,2710,4094,50.3,-11.2,30,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2023,2710,2710,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.11,34.80
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,492,-0.45,0.0,1863,2022,2711,4095,58.7,-12.1,35,526,4.35,0.00,26.75,4.375,10244,0.219,0.000,2255,2021,2174,2174,4094,0,0,0,0,0,0,26.05,25.15,24.03,10.11,34.60
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,529,1.72,439.9,2255,2021,2173,4094,61.6,0.0,37,566,7.55,0.00,25.83,4.276,11270,0.146,0.000,2944,2021,1661,1661,4094,0,0,0,0,0,0,25.39,25.59,23.61,10.00,34.40
$GC,629,1.72,439.9,2944,2021,1660,4094,52.7,12.9,44,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2021,1659,1659,4094,0,0,0,0,0,0,25.51,25.53,25.52,9.90,34.20
$GC,710,1.72,439.9,2944,2021,1657,4094,42.0,12.8,50,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2021,1657,1657,4094,0,0,0,0,0,0,25.72,25.74,25.74,9.90,34.17
$GC,791,1.72,439.9,2944,2021,1655,4094,30.9,13.7,56,805,0.00,4.15,0.00,0.000,260,0.000,0.278,2945,3439,1655,1655,4094,0,0,0,0,0,0,25.86,25.44,25.88,9.90,34.72
$GC,857,1.72,439.9,2944,3439,1653,4094,21.0,15.3,61,875,0.00,3.80,0.00,0.000,1030,0.000,0.124,2945,2012,1653,1653,4094,0,0,0,0,0,0,25.69,25.64,25.70,9.90,34.20
$GC,941,1.72,439.9,2944,2011,1650,4094,9.4,13.1,67,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2011,1650,1650,4094,0,0,0,0,0,0,26.03,26.05,26.04,9.91,34.80
$STATE,995,end climb,SURFACE_DEPTH_REACHED
$STATE,995,begin surface coast
$FINISH,-0.0,1.014016
$STATE,1021,end surface coast,CONTROL_FINISHED_OK
$STATE,1022,begin surface
$SM_CCo,1117,0.00,0.000,0,0,1648,452.48
$SM_GC,0.88,28.85,0.00,0.00,0.104,0.000,0.000,231,2009,1648,-6.81,-0.73,452.48,0,0,0,0,0,0,25.41,26.12,25.74
$IRIDIUM_FIX,5554.28,-16557.83,300417,183624
$TT8_MAMPS,0.026964,0.261401
$HUMID,34.60
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.61,14.953
$10V_AH,8.75,10.882
$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,46.100,23.550,52.575,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,264.289,59.937,118.796,705.333,22.626,33.410,351.599,0.000,718.113,0.000,5.446,0.000
$DEVICE_MAMPS,218.504,312.858,4375.046,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.038,93.714,156.957,404.544,694.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7379,73
$CAP_FILE_SIZE,20751,9
$CFSIZE,1024409600,1011777536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,200417,5712.529,-16510.510,3,0.9,32,11.0,0.0,0.0,10,5.0