version: 66.12
glider: 401
mission: 20
dive: 89
start: 4 30 117 1 31 33
data:
$ID,401
$MISSION,20
$DIVE,89
$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,14
$R_STBD_OVSHOOT,26
$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
$GPS1,300417,011156,5712.5679,-16526.5703,6,0.8,22,10.9,0.8,228.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,3.1
$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,0.362829,0.043811
$KALMAN_X,-5883.062012,882.309570,-205.590546,24070.472656,-323.645447
$KALMAN_Y,5058.123047,-107.130791,-549.939087,-8129.008789,-117.243248
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,2347,2037,2370,4094,0.0,0.0,0,18,0.00,0.00,-1.17,0.000,16390,0.000,0.000,2347,2037,2706,2706,4095,0,0,0,0,0,0,25.96,24.51,25.91,10.06,35.31
$GC,20,-1.72,-439.9,2347,2037,2706,4094,0.0,0.0,0,38,5.32,0.00,0.00,0.000,4102,0.191,0.000,1868,2038,2706,2706,4095,0,0,0,0,0,0,25.67,25.74,25.71,10.14,35.39
$GC,102,-1.72,-439.9,1868,2038,2707,4094,18.5,-9.5,6,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2038,2707,2707,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.13,35.62
$GC,178,-1.72,-439.9,1867,2038,2709,4095,26.8,-11.2,12,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2038,2709,2709,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.13,35.43
$GC,257,-1.72,-439.9,1868,2038,2710,4095,35.9,-11.6,18,272,0.00,4.07,0.00,0.000,260,0.000,0.305,1868,3428,2711,2711,4094,0,0,0,0,0,0,26.17,25.70,26.17,10.13,35.27
$GC,287,-1.72,-439.9,1867,3428,2711,4095,39.5,-11.7,20,302,0.00,3.72,0.00,0.000,1030,0.000,0.132,1868,2019,2711,2711,4094,0,0,0,0,0,0,25.94,25.89,25.95,10.12,35.03
$GC,366,-1.72,-439.9,1867,2019,2712,4094,48.0,-11.0,26,381,0.00,3.97,0.00,0.000,516,0.000,0.271,1868,610,2713,2713,4094,0,0,0,0,0,0,26.22,25.78,26.24,10.12,34.72
$GC,413,-1.72,-439.9,1867,610,2713,4094,52.7,-10.2,29,428,0.00,3.65,0.00,0.000,1030,0.000,0.146,1868,2001,2714,2714,4095,0,0,0,0,0,0,25.98,25.94,26.01,10.12,35.15
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,460,begin apogee
$GC,464,-0.45,0.0,1868,2037,2714,4094,58.4,-11.6,32,502,4.32,0.00,26.92,4.348,10244,0.216,0.000,2256,2039,2174,2174,4094,0,0,0,0,0,0,25.94,25.06,23.96,10.12,34.68
$STATE,503,end apogee,CONTROL_FINISHED_OK
$STATE,503,begin climb
$GC,504,1.72,439.9,2255,2039,2174,4094,61.8,0.0,34,542,7.53,0.00,26.05,4.278,11270,0.139,0.000,2943,2039,1661,1661,4094,0,0,0,0,0,0,25.32,25.51,23.56,10.01,34.28
$GC,605,1.72,439.9,2942,2039,1660,4094,54.0,12.4,41,619,0.00,4.15,0.00,0.000,516,0.000,0.263,2943,610,1659,1659,4094,0,0,1,0,0,0,25.47,25.08,25.48,9.91,33.85
$GC,660,1.72,439.9,2942,611,1658,4094,46.2,14.0,45,675,0.00,3.78,0.00,0.000,1030,0.000,0.139,2943,2017,1657,1657,4094,0,0,0,0,0,0,25.39,25.34,25.42,9.91,34.09
$GC,737,1.72,439.9,2943,2017,1656,4094,35.8,13.8,51,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2017,1656,1656,4094,0,0,0,0,0,0,25.79,25.81,25.80,9.90,34.28
$GC,814,1.72,439.9,2943,2017,1654,4094,26.4,11.6,57,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2017,1653,1653,4094,0,0,0,0,0,0,25.91,25.92,25.91,9.90,34.95
$GC,890,1.72,439.9,2943,2018,1652,4094,16.6,13.5,63,905,0.00,4.12,0.00,0.000,260,0.000,0.283,2943,3441,1651,1651,4094,0,0,0,0,0,0,25.99,25.56,26.00,9.91,34.28
$GC,944,1.72,439.9,2943,3440,1649,4094,8.3,15.5,67,958,0.00,3.80,0.00,0.000,1030,0.000,0.129,2943,2009,1649,1649,4094,0,0,0,0,0,0,25.77,25.72,25.80,9.91,35.15
$STATE,984,end climb,SURFACE_DEPTH_REACHED
$STATE,984,begin surface coast
$FINISH,-0.0,1.001447
$STATE,1011,end surface coast,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$SM_CCo,1107,0.00,0.000,0,0,1648,452.48
$SM_GC,0.83,28.88,0.00,0.00,0.107,0.000,0.000,232,2008,1648,-6.81,-0.82,452.48,0,0,0,0,0,0,25.46,26.10,25.75
$IRIDIUM_FIX,5554.28,-16557.83,300417,002322
$TT8_MAMPS,0.026964,0.243425
$HUMID,35.39
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.4,8.5
$24V_AH,23.56,11.328
$10V_AH,8.86,9.493
$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,46.050,35.125,52.975,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,271.952,60.433,120.309,691.369,20.720,33.414,359.948,0.000,701.165,0.000,9.752,0.000
$DEVICE_MAMPS,216.021,412.178,4347.733,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.228,92.393,154.827,393.478,677.222,0.000,0.000,0.000,0.000,0.000
$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,7356,72
$CAP_FILE_SIZE,22407,6
$CFSIZE,1024409600,1014136832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300417,015048,5712.409,-16526.998,3,0.8,15,10.8,0.0,335.4,10,4.6