version: 66.12
glider: 401
mission: 20
dive: 144
start: 4 30 117 22 31 43
data:
$ID,401
$MISSION,20
$DIVE,144
$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,13
$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
$GPS1,300417,222533,5712.2534,-16507.9844,2,0.8,16,11.0,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-45.5
$GPS2,300417,223042,5712.2349,-16508.0059,5,0.9,20,11.0,0.0,0.0,9,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.542,-16449.303
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.360358,-0.061306
$KALMAN_X,-6113.010742,1829.371216,780.901489,40966.996094,-46.105469
$KALMAN_Y,11771.851562,592.662109,512.872192,-17206.783203,-67.521210
$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,-439.9,231,2036,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.75,0.000,16390,0.000,0.000,231,2036,2691,2691,4095,0,0,0,0,0,0,26.01,25.18,26.03,9.91,35.58
$GC,36,-1.72,-439.9,231,2036,2691,4094,0.8,0.0,1,73,20.45,4.00,0.00,0.000,2564,0.410,0.231,1848,608,2694,2694,4094,0,0,0,0,0,0,25.46,25.42,25.53,10.12,35.62
$GC,101,-1.72,-439.9,1848,608,2694,4094,19.0,-28.7,5,119,0.00,3.75,0.00,0.000,1030,0.000,0.139,1848,2021,2695,2695,4094,0,0,0,0,0,0,25.63,25.59,25.68,10.13,35.70
$GC,185,-1.72,-439.9,1848,2020,2696,4094,30.0,-12.7,11,201,0.00,4.18,0.00,0.000,260,0.000,0.310,1848,3438,2697,2697,4094,0,0,0,0,0,0,26.01,25.59,26.03,10.12,35.15
$GC,229,-1.72,-439.9,1848,3438,2697,4094,35.4,-12.4,14,248,0.00,3.75,0.00,0.000,1030,0.000,0.132,1848,2026,2698,2698,4094,0,0,0,0,0,0,25.79,25.75,25.82,10.12,34.83
$GC,313,-1.72,-439.9,1847,2026,2699,4094,45.4,-11.8,20,329,0.00,4.00,0.00,0.000,516,0.000,0.261,1848,607,2700,2700,4095,0,0,0,0,0,0,26.12,25.68,26.13,10.11,34.64
$GC,361,-1.72,-439.9,1848,607,2700,4094,51.3,-13.2,23,376,0.00,3.78,0.00,0.000,1030,0.000,0.144,1848,2039,2700,2700,4094,0,0,0,0,0,0,25.88,25.82,25.91,10.12,34.36
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,419,-0.45,0.0,1848,2039,2702,4095,58.3,-12.1,27,453,4.57,0.00,26.52,4.360,10244,0.209,0.000,2259,2039,2173,2173,4094,0,0,0,0,0,0,25.87,25.00,23.89,10.11,34.99
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,454,begin climb
$GC,455,1.72,439.9,2259,2039,2173,4094,61.1,0.0,29,507,7.57,4.15,26.27,4.291,10756,0.156,0.263,2946,612,1660,1660,4094,0,0,0,0,0,0,25.19,25.08,23.51,10.00,34.72
$GC,523,1.72,439.9,2945,612,1659,4094,57.4,8.3,33,541,0.00,3.83,0.00,0.000,1030,0.000,0.132,2946,2024,1659,1659,4094,0,0,0,0,0,0,25.05,25.00,25.07,9.91,33.93
$GC,607,1.72,439.9,2945,2023,1657,4094,46.7,12.5,39,623,0.00,4.18,0.00,0.000,260,0.000,0.283,2946,3435,1657,1657,4094,0,0,0,0,0,0,25.59,25.19,25.60,9.90,33.85
$GC,651,1.72,439.9,2946,3435,1656,4094,40.3,14.1,42,666,0.00,3.80,0.00,0.000,1030,0.000,0.127,2946,2026,1655,1655,4094,0,0,0,0,0,0,25.44,25.39,25.47,9.90,34.44
$GC,729,1.72,439.9,2945,2026,1653,4094,29.4,13.6,48,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2026,1653,1653,4094,0,0,0,0,0,0,25.82,25.84,25.83,9.90,34.13
$GC,806,1.72,439.9,2945,2025,1651,4094,19.6,12.7,54,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,1651,1651,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.91,34.36
$GC,887,1.72,439.9,2945,2026,1649,4094,9.3,12.7,60,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,1649,1649,4094,0,0,0,0,0,0,26.01,26.02,26.02,9.91,34.72
$STATE,943,end climb,FINISH_DEPTH_REACHED
$STATE,943,begin subsurface finish
$FINISH1,2.0,1.025282,-160
$GC,948,-0.26,-159.7,2946,2025,1647,4094,2.0,12.6,64,968,6.30,0.00,-6.82,0.000,20486,0.114,0.000,2351,2020,2365,2365,4094,0,0,0,0,0,0,25.77,24.68,25.81,9.91,34.76
$FINISH2,0.1
$STATE,969,end subsurface finish,CONTROL_FINISHED_OK
$STATE,969,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,214135
$TT8_MAMPS,0.026215,0.280126
$HUMID,35.07
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,9.6
$24V_AH,23.51,15.489
$10V_AH,8.70,11.083
$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,38.900,39.400,52.800,0.000,0.000,24.940,23.249,169.774,0.500,0.000,22.169,242.016,0.000,116.096,898.244,45.474,33.433,388.746,0.000,661.593,0.000,7.328,0.000
$DEVICE_MAMPS,409.695,310.375,4360.148,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.907,83.204,139.745,381.769,637.683,0.000,0.000,0.000,0.000,0.000
$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,7473,65
$CAP_FILE_SIZE,25998,14
$CFSIZE,1024409600,1011433472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,223042,5712.235,-16508.006,5,0.9,20,11.0,0.0,0.0,9,4.9