version: 66.12
glider: 401
mission: 20
dive: 90
start: 4 30 117 1 57 12
data:
$ID,401
$MISSION,20
$DIVE,90
$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,17
$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
$GPS1,300417,015048,5712.4092,-16526.9980,3,0.8,15,10.8,0.0,335.4,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-36.5
$GPS2,300417,015611,5712.4287,-16527.1562,5,0.9,24,10.8,1.0,153.4,9,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.029,-16509.932
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.362729,0.044598
$KALMAN_X,-6486.371094,712.171814,-369.111938,24433.869141,-430.043823
$KALMAN_Y,4953.586914,-201.681427,-629.307800,-8095.359863,-56.552017
$MHEAD_RNG_PITCHd_Wd,109.2,20000,-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,15,-1.72,-439.9,232,2009,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.50,0.000,16390,0.000,0.000,232,2009,2690,2690,4094,0,0,0,0,0,0,26.03,25.18,26.03,9.91,36.06
$GC,35,-1.72,-439.9,232,2009,2690,4094,0.9,0.0,1,64,20.52,0.00,0.00,0.000,2566,0.412,0.000,1844,2001,2692,2692,4094,0,0,0,0,0,0,25.46,25.57,25.53,10.13,35.78
$GC,126,-1.72,-439.9,1843,2001,2694,4094,20.4,-14.0,8,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2000,2694,2694,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.13,35.54
$GC,202,-1.72,-439.9,1844,2000,2696,4094,30.6,-13.7,14,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2000,2696,2696,4095,0,0,0,0,0,0,26.03,26.05,26.04,10.13,35.31
$GC,278,-1.72,-439.9,1843,2000,2697,4095,40.2,-11.9,20,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2000,2697,2697,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.12,35.19
$GC,356,-1.72,-439.9,1843,2001,2698,4094,49.4,-11.5,26,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2001,2699,2699,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,34.95
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,432,-0.45,0.0,1844,2035,2700,4095,58.9,-13.4,31,466,4.62,0.00,26.45,4.345,10246,0.226,0.000,2257,2035,2174,2174,4094,0,0,0,0,0,0,25.90,25.02,23.91,10.12,34.48
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,469,1.72,439.9,2257,2035,2174,4094,61.5,0.0,33,515,7.47,0.00,26.38,4.261,10246,0.139,0.000,2942,2035,1659,1659,4094,0,0,0,0,0,0,25.27,24.26,23.53,10.01,34.44
$GC,577,1.72,439.9,2941,2035,1658,4094,52.3,12.3,41,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2035,1656,1656,4094,0,0,0,0,0,0,25.48,25.51,25.50,9.91,33.93
$GC,658,1.72,439.9,2941,2035,1656,4094,41.8,13.2,47,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2035,1655,1655,4094,0,0,0,0,0,0,25.70,25.72,25.72,9.91,34.05
$GC,737,1.72,439.9,2941,2035,1653,4094,31.1,13.6,53,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2034,1653,1653,4094,0,0,0,0,0,0,25.84,25.86,25.86,9.91,34.48
$GC,817,1.72,439.9,2941,2035,1651,4094,20.6,12.9,59,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2035,1651,1651,4094,0,0,0,0,0,0,25.95,25.96,25.96,9.91,34.44
$GC,897,1.72,439.9,2941,2034,1649,4094,10.0,13.9,65,912,0.00,4.03,0.00,0.000,260,0.000,0.276,2942,3428,1648,1648,4094,0,0,0,0,0,0,26.03,25.60,26.04,9.92,34.56
$GC,939,1.72,439.9,2941,3428,1647,4094,3.5,15.3,68,953,0.00,3.72,0.00,0.000,1030,0.000,0.137,2942,2031,1647,1647,4094,0,0,0,0,0,0,25.80,25.75,25.82,9.91,34.60
$STATE,969,end climb,FINISH_DEPTH_REACHED
$STATE,969,begin subsurface finish
$FINISH1,-0.0,1.023591,-41
$GC,973,-0.07,-41.4,2942,2028,1647,4094,-0.0,14.8,70,989,5.70,0.00,-5.55,0.000,20998,0.099,0.000,2395,2028,2228,2228,4094,0,0,0,0,0,0,25.83,24.68,25.87,9.92,34.44
$FINISH2,-0.0
$STATE,990,end subsurface finish,CONTROL_FINISHED_OK
$STATE,990,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,010723
$TT8_MAMPS,0.026215,0.259903
$HUMID,34.76
$INTERNAL_PRESSURE,9.96488
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,8.5
$24V_AH,23.53,11.408
$10V_AH,8.82,9.522
$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,38.325,7.800,52.825,0.000,0.000,26.300,22.508,178.514,0.500,0.000,25.686,250.820,0.000,100.955,949.104,36.757,33.435,361.689,0.000,692.247,0.000,7.313,0.000
$DEVICE_MAMPS,412.178,486.668,4345.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.287,91.023,152.659,384.329,666.899,0.000,0.000,0.000,0.000,0.000
$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,7378,71
$CAP_FILE_SIZE,23417,7
$CFSIZE,1024409600,1014087680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300417,015611,5712.429,-16527.156,5,0.9,24,10.8,1.0,153.4,9,5.0