version: 66.12
glider: 401
mission: 20
dive: 151
start: 5 1 117 1 9 16
data:
$ID,401
$MISSION,20
$DIVE,151
$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,36
$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
$GPS1,010517,005032,5711.0962,-16507.9648,4,0.7,18,11.0,0.0,0.0,12,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,4.4
$GPS2,010517,005032,5711.0962,-16507.9648,4,0.7,18,11.0,0.0,0.0,12,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.403,-16449.271
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.323968,0.169412
$KALMAN_X,-7764.958984,1452.560791,272.067383,43548.679688,-257.010559
$KALMAN_Y,10382.084961,80.423111,-205.254257,-16700.628906,-251.408432
$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,-439.9,2345,2046,2366,4094,0.0,0.0,0,19,0.00,0.00,-1.77,0.000,16390,0.000,0.000,2345,2046,2696,2696,4094,0,0,0,0,0,0,26.14,24.63,26.10,10.05,35.27
$GC,21,-1.72,-439.9,2344,2046,2696,4094,0.0,0.0,0,36,5.30,0.00,0.00,0.000,4102,0.206,0.000,1867,2046,2696,2696,4094,0,0,0,0,0,0,25.86,25.92,25.90,10.13,35.70
$GC,98,-1.72,-439.9,1866,2046,2697,4094,9.8,-9.2,6,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2046,2697,2697,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.12,35.11
$GC,179,-1.72,-439.9,1866,2046,2698,4094,19.1,-11.4,12,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2046,2699,2699,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.12,35.46
$GC,254,-1.72,-439.9,1866,2046,2700,4094,27.7,-11.7,18,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2046,2701,2701,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.13,35.07
$GC,335,-1.72,-439.9,1866,2046,2702,4094,36.8,-11.2,24,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2046,2702,2702,4095,0,0,0,0,0,0,26.32,26.32,26.32,10.12,35.39
$GC,411,-1.72,-439.9,1866,2046,2703,4094,45.2,-11.0,30,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2046,2703,2703,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.11,34.60
$GC,491,-1.72,-439.9,1866,2046,2705,4095,53.9,-10.7,36,510,0.00,4.00,0.00,0.000,516,0.000,0.261,1867,608,2705,2705,4094,0,0,1,0,0,0,26.38,25.95,26.39,10.11,34.76
$STATE,537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,537,begin apogee
$GC,545,-0.45,0.0,1867,2008,2706,4094,59.7,-12.1,39,579,4.32,0.00,26.60,4.417,10246,0.219,0.000,2257,2009,2174,2174,4095,0,0,0,0,0,0,26.07,25.16,24.04,10.11,34.48
$STATE,580,end apogee,CONTROL_FINISHED_OK
$STATE,581,begin climb
$GC,582,1.72,439.9,2256,2009,2174,4094,62.9,0.0,41,629,7.45,0.00,26.10,4.323,10246,0.134,0.000,2943,2010,1662,1662,4094,0,0,0,0,0,0,25.41,24.37,23.63,10.01,34.99
$GC,692,1.72,439.9,2943,2010,1660,4094,53.4,12.6,49,707,0.00,4.07,0.00,0.000,516,0.000,0.266,2943,607,1659,1659,4094,0,0,1,0,0,0,25.55,25.15,25.56,9.91,34.01
$GC,770,1.72,439.9,2943,607,1658,4094,42.7,13.7,55,784,0.00,3.78,0.00,0.000,1030,0.000,0.137,2944,2024,1657,1657,4094,0,0,0,0,0,0,25.50,25.44,25.53,9.90,33.97
$GC,846,1.72,439.9,2943,2024,1655,4094,32.5,13.2,61,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2024,1655,1655,4094,0,0,0,0,0,0,25.87,25.89,25.88,9.90,34.05
$GC,923,1.72,439.9,2943,2023,1653,4094,23.1,12.2,67,938,0.00,4.12,0.00,0.000,260,0.000,0.288,2944,3438,1653,1653,4095,0,0,0,0,0,0,25.97,25.53,25.98,9.90,34.60
$GC,965,1.72,439.9,2943,3438,1652,4094,17.3,13.4,70,979,0.00,3.80,0.00,0.000,1030,0.000,0.129,2944,2011,1651,1651,4094,0,0,0,0,0,0,25.75,25.70,25.78,9.91,34.64
$GC,1042,1.72,439.9,2943,2011,1649,4094,6.9,12.9,76,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2011,1649,1649,4094,0,0,0,0,0,0,26.08,26.09,26.08,9.91,35.43
$STATE,1082,end climb,SURFACE_DEPTH_REACHED
$STATE,1082,begin surface coast
$FINISH,-0.1,1.013240
$STATE,1108,end surface coast,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$SM_CCo,1204,0.00,0.000,0,0,1648,452.48
$SM_GC,0.97,28.75,0.00,0.00,0.099,0.000,0.000,232,2010,1648,-6.81,-0.68,452.48,0,0,0,0,0,0,25.51,26.14,25.78
$IRIDIUM_FIX,5744.64,-16600.79,300417,235859
$TT8_MAMPS,0.026964,0.260652
$HUMID,34.64
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,8.5
$24V_AH,23.63,16.002
$10V_AH,8.76,11.288
$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,45.825,23.425,52.700,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,284.903,59.855,122.144,766.035,24.161,33.408,374.093,0.000,778.694,0.000,5.446,0.000
$DEVICE_MAMPS,218.504,288.028,4417.257,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.475,103.968,174.137,432.274,753.707,0.000,0.000,0.000,0.000,0.000
$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,7363,81
$CAP_FILE_SIZE,21621,6
$CFSIZE,1024409600,1011089408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,010517,013016,5710.771,-16508.299,2,0.9,23,11.0,0.6,231.8,9,5.0