version: 66.12
glider: 401
mission: 20
dive: 154
start: 5 1 117 2 22 26
data:
$ID,401
$MISSION,20
$DIVE,154
$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,8
$R_STBD_OVSHOOT,40
$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
$GPS1,010517,021625,5710.5127,-16508.9082,2,0.9,44,11.0,1.2,260.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-43.9
$GPS2,010517,022124,5710.4995,-16509.0410,4,0.9,18,11.0,0.0,0.0,9,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5706.806,-16450.352
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.256689,0.259937
$KALMAN_X,-8841.404297,1023.483459,-157.026581,44418.492188,-383.982971
$KALMAN_Y,9225.856445,-255.792999,-511.728790,-15999.627930,-284.133362
$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,15,-1.72,-439.9,231,2030,1646,4094,0.0,0.0,0,37,0.00,0.00,-9.48,0.000,16390,0.000,0.000,231,2030,2690,2690,4094,0,0,0,0,0,0,26.03,25.19,26.05,9.91,35.46
$GC,39,-1.72,-439.9,231,2031,2690,4094,1.0,0.0,1,76,20.48,4.03,0.00,0.000,2564,0.405,0.228,1850,598,2692,2692,4095,0,0,0,0,0,0,25.39,25.37,25.46,10.12,35.82
$GC,118,-1.72,-439.9,1850,598,2694,4094,23.1,-26.4,6,133,0.00,3.72,0.00,0.000,1030,0.000,0.134,1850,1999,2694,2694,4094,0,0,0,0,0,0,25.63,25.57,25.65,10.13,35.23
$GC,196,-1.72,-439.9,1849,1999,2695,4094,33.7,-13.2,12,211,0.00,4.25,0.00,0.000,260,0.000,0.303,1850,3444,2696,2696,4094,0,0,0,0,0,0,25.98,25.52,26.00,10.13,35.15
$GC,240,-1.72,-439.9,1850,3444,2696,4094,39.3,-13.1,15,254,0.00,3.75,0.00,0.000,1030,0.000,0.132,1850,2035,2696,2696,4094,0,0,0,0,0,0,25.76,25.71,25.80,10.13,34.91
$GC,320,-1.72,-439.9,1849,2035,2698,4094,48.2,-11.2,21,339,0.00,4.03,0.00,0.000,516,0.000,0.258,1850,607,2698,2698,4095,0,0,0,0,0,0,26.10,25.66,26.11,10.12,34.56
$GC,356,-1.72,-439.9,1849,607,2698,4095,52.9,-12.2,23,371,0.00,3.80,0.00,0.000,1030,0.000,0.144,1850,2043,2699,2699,4095,0,0,0,0,0,0,25.82,25.77,25.90,10.12,35.43
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,401,-0.45,0.0,1850,2043,2700,4094,58.4,-12.8,26,439,4.53,0.00,26.30,4.333,10244,0.219,0.000,2254,2044,2174,2174,4094,0,0,0,0,0,0,25.83,24.98,23.87,10.12,34.87
$STATE,440,end apogee,CONTROL_FINISHED_OK
$STATE,440,begin climb
$GC,441,1.72,439.9,2254,2044,2173,4094,61.5,0.0,28,492,7.53,0.00,25.95,4.251,11270,0.132,0.000,2943,2044,1665,1665,4094,0,0,0,0,0,0,25.26,25.46,23.52,10.01,34.32
$GC,556,1.72,439.9,2941,2044,1662,4094,50.3,14.7,36,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2044,1662,1662,4094,0,0,0,0,0,0,25.50,25.51,25.51,9.91,33.77
$GC,637,1.72,439.9,2942,2044,1661,4095,38.5,14.9,42,652,0.00,4.15,0.00,0.000,516,0.000,0.261,2943,611,1660,1660,4094,0,0,0,0,0,0,25.70,25.29,25.72,9.91,33.85
$GC,691,1.72,439.9,2942,611,1659,4094,30.6,14.8,46,710,0.00,3.75,0.00,0.000,1030,0.000,0.134,2943,2022,1659,1659,4094,0,0,0,0,0,0,25.54,25.51,25.56,9.91,33.89
$GC,776,1.72,439.9,2942,2022,1656,4094,20.1,12.2,52,792,0.00,4.12,0.00,0.000,260,0.000,0.288,2943,3434,1656,1656,4094,0,0,0,0,0,0,25.91,25.44,25.92,9.91,34.32
$GC,831,1.72,439.9,2943,3434,1654,4094,12.0,14.8,56,846,0.00,3.75,0.00,0.000,1030,0.000,0.127,2943,2026,1654,1654,4094,0,0,0,0,0,0,25.71,25.66,25.72,9.92,35.27
$STATE,907,end climb,FINISH_DEPTH_REACHED
$STATE,908,begin subsurface finish
$FINISH1,1.7,1.025281,-160
$GC,912,-0.26,-159.7,2943,2023,1653,4094,1.7,12.8,62,933,6.25,4.18,-6.50,0.000,20996,0.102,4.229,2348,606,2366,2366,4094,0,0,0,0,0,0,25.79,24.31,25.82,9.92,35.62
$FINISH2,0.2
$STATE,934,end subsurface finish,CONTROL_FINISHED_OK
$STATE,934,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,010517,013119
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.23
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,8.5
$24V_AH,23.52,16.241
$10V_AH,8.75,11.375
$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,38.775,43.625,52.250,0.000,0.000,24.001,18.188,169.872,0.500,0.000,19.718,240.617,0.000,112.214,858.221,47.523,33.430,373.696,0.000,633.418,0.000,7.313,0.000
$DEVICE_MAMPS,404.729,4228.549,4332.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.553,80.663,135.463,362.463,609.512,0.000,0.000,0.000,0.000,0.000
$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,7405,63
$CAP_FILE_SIZE,25817,11
$CFSIZE,1024409600,1010941952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,022124,5710.500,-16509.041,4,0.9,18,11.0,0.0,0.0,9,4.8