version: 66.12
glider: 401
mission: 20
dive: 88
start: 4 30 117 1 12 57
data:
$ID,401
$MISSION,20
$DIVE,88
$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,120
$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,36
$R_STBD_OVSHOOT,15
$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
$GPS1,300417,010621,5712.5654,-16526.3965,4,0.8,21,10.9,0.0,279.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-38.2
$GPS2,300417,011156,5712.5679,-16526.5703,6,0.8,22,10.9,0.8,228.1,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.168,-16509.344
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.320060,-0.176450
$KALMAN_X,-5745.624512,1022.539551,-78.235123,23678.421875,-441.905914
$KALMAN_Y,4806.701172,-23.424057,-497.428345,-7997.000488,-253.379364
$MHEAD_RNG_PITCHd_Wd,109.1,20000,-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,-439.9,242,2027,1594,4094,0.0,0.0,0,34,0.00,0.00,-10.10,0.000,16390,0.000,0.000,242,2033,2694,2694,4094,0,0,0,0,0,0,26.01,25.18,26.02,9.90,35.46
$GC,35,-1.72,-439.9,242,2034,2695,4094,0.9,0.0,1,68,20.40,0.00,0.00,0.000,2054,0.410,0.000,1846,2028,2696,2696,4095,0,0,0,0,0,0,25.48,25.59,25.55,10.13,35.62
$GC,130,-1.72,-439.9,1845,2028,2697,4094,20.8,-13.4,8,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2028,2698,2698,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.13,35.74
$GC,207,-1.72,-439.9,1846,2028,2699,4094,30.7,-13.1,14,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2028,2700,2700,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.13,35.43
$GC,283,-1.72,-439.9,1846,2028,2701,4094,40.2,-12.2,20,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2028,2702,2702,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.13,35.54
$GC,363,-1.72,-439.9,1846,2028,2703,4094,50.0,-12.0,26,384,0.00,3.95,0.00,0.000,516,0.000,0.256,1846,626,2703,2703,4094,0,0,0,0,0,0,26.18,25.75,26.19,10.12,34.87
$GC,401,-1.72,-439.9,1846,626,2704,4094,54.6,-12.4,28,415,0.00,3.67,0.00,0.000,1030,0.000,0.144,1846,2022,2705,2705,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.12,34.68
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,430,begin apogee
$GC,433,-0.45,0.0,1846,2022,2705,4094,59.1,-13.5,30,467,4.53,0.00,26.73,4.363,10246,0.226,0.000,2249,2022,2173,2173,4094,0,0,0,0,0,0,25.89,25.01,23.90,10.12,34.44
$STATE,468,end apogee,CONTROL_FINISHED_OK
$STATE,468,begin climb
$GC,469,1.72,439.9,2248,2023,2174,4094,62.3,0.0,32,516,7.60,0.00,26.25,4.273,10246,0.134,0.000,2944,2022,1661,1661,4094,0,0,0,0,0,0,25.27,24.27,23.52,10.01,34.32
$GC,579,1.72,439.9,2943,2026,1659,4094,53.1,11.0,40,598,0.00,4.10,0.00,0.000,516,0.000,0.268,2945,624,1659,1659,4094,0,0,0,0,0,0,25.49,25.10,25.51,9.91,33.65
$GC,625,1.72,439.9,2944,624,1658,4094,46.9,13.1,43,643,0.00,3.75,0.00,0.000,1030,0.000,0.139,2945,2023,1658,1658,4094,0,0,0,0,0,0,25.38,25.34,25.39,9.91,34.20
$GC,709,1.72,439.9,2944,2023,1656,4094,35.9,13.6,49,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2023,1656,1656,4094,0,0,0,0,0,0,25.79,25.81,25.80,9.91,33.85
$GC,786,1.72,439.9,2944,2023,1654,4094,26.7,11.5,55,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2023,1654,1654,4094,0,0,0,0,0,0,25.90,25.92,25.91,9.91,34.48
$GC,862,1.72,439.9,2944,2023,1652,4094,17.3,12.7,61,876,0.00,4.12,0.00,0.000,260,0.000,0.286,2944,3441,1651,1651,4094,0,0,0,0,0,0,25.98,25.58,26.00,9.91,34.24
$GC,927,1.72,439.9,2944,3441,1650,4094,8.6,13.8,66,942,0.00,3.80,0.00,0.000,1030,0.000,0.132,2945,2013,1649,1649,4094,0,0,0,0,0,0,25.78,25.75,25.81,9.92,34.48
$STATE,969,end climb,FINISH_DEPTH_REACHED
$STATE,969,begin subsurface finish
$FINISH1,2.9,1.025303,-161
$GC,973,-0.26,-161.2,2944,2013,1648,4094,2.9,13.6,69,1003,6.55,4.32,-6.93,0.000,20996,0.191,4.273,2348,606,2368,2368,4095,0,0,0,0,0,0,25.84,24.37,25.86,9.91,34.83
$FINISH2,0.1
$STATE,1004,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,300417,002322
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.46
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.8,8.5
$24V_AH,23.52,11.261
$10V_AH,8.85,9.467
$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,39.075,27.825,52.975,0.000,0.000,24.450,23.492,190.987,0.500,0.000,23.303,254.009,0.000,108.524,963.838,37.392,33.434,389.124,0.000,695.039,0.000,7.310,0.000
$DEVICE_MAMPS,409.695,4273.243,4362.631,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.005,90.943,152.651,388.264,669.879,0.000,0.000,0.000,0.000,0.000
$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,7463,71
$CAP_FILE_SIZE,25041,8
$CFSIZE,1024409600,1014185984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,011156,5712.568,-16526.570,6,0.8,22,10.9,0.8,228.1,10,5.0