version: 66.12
glider: 401
mission: 20
dive: 155
start: 5 1 117 2 39 53
data:
$ID,401
$MISSION,20
$DIVE,155
$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,16
$R_STBD_OVSHOOT,27
$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
$GPS1,010517,022124,5710.4995,-16509.0410,4,0.9,18,11.0,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,3.9
$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,0.328955,0.158966
$KALMAN_X,-8947.013672,893.825989,-254.454971,44737.410156,-294.659851
$KALMAN_Y,9060.870117,-352.538788,-562.828613,-15693.797852,-227.315704
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.72,-439.9,2347,2034,2367,4095,0.0,0.0,0,18,0.00,0.00,-1.42,0.000,16390,0.000,0.000,2347,2034,2699,2699,4094,0,0,0,0,0,0,26.05,24.56,26.01,10.06,35.54
$GC,20,-1.72,-439.9,2347,2034,2699,4095,0.0,0.0,0,35,5.35,4.03,0.00,0.000,4356,0.201,0.283,1865,3431,2699,2699,4094,0,0,0,0,0,0,25.77,25.60,25.81,10.13,35.19
$GC,87,-1.72,-439.9,1865,3431,2700,4094,12.9,-11.4,5,102,0.00,3.72,0.00,0.000,1030,0.000,0.134,1865,2027,2701,2701,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.12,35.86
$GC,164,-1.72,-439.9,1865,2027,2702,4094,21.5,-11.6,11,182,0.00,4.00,0.00,0.000,516,0.000,0.268,1865,612,2702,2702,4094,0,0,0,0,0,0,26.15,25.69,26.16,10.13,35.74
$GC,198,-1.72,-439.9,1864,612,2703,4094,25.8,-11.9,13,213,0.00,3.67,0.00,0.000,1030,0.000,0.142,1865,2008,2703,2703,4094,0,0,0,0,0,0,25.87,25.84,25.92,10.13,35.43
$GC,275,-1.72,-439.9,1865,2008,2705,4094,35.0,-11.5,19,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2008,2705,2705,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,35.46
$GC,351,-1.72,-439.9,1864,2008,2706,4094,43.3,-10.9,25,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2008,2707,2707,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.12,34.56
$GC,434,-1.72,-439.9,1865,2008,2708,4094,53.0,-12.4,31,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2008,2708,2708,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.12,34.95
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,478,-0.45,0.0,1865,2010,2709,4094,58.4,-12.6,34,516,4.35,0.00,26.58,4.360,10244,0.221,0.000,2256,2009,2174,2174,4094,0,0,0,0,0,0,26.00,25.11,24.00,10.12,34.52
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,518,1.72,439.9,2256,2010,2174,4094,61.4,0.0,36,568,7.50,0.00,26.15,4.298,11270,0.137,0.000,2944,2010,1660,1660,4094,0,0,0,0,0,0,25.39,25.58,23.58,10.01,34.32
$GC,631,1.72,439.9,2943,2010,1659,4094,53.1,12.4,44,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2010,1657,1657,4094,0,0,0,0,0,0,25.53,25.55,25.55,9.91,33.69
$GC,708,1.72,439.9,2943,2010,1656,4094,42.3,14.7,50,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2010,1655,1655,4094,0,0,0,0,0,0,25.73,25.75,25.74,9.91,34.09
$GC,788,1.72,439.9,2943,2010,1653,4094,30.9,14.3,56,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2009,1653,1653,4094,0,0,0,0,0,0,25.86,25.88,25.87,9.90,34.09
$GC,866,1.72,439.9,2943,2010,1651,4094,21.4,12.4,62,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2010,1651,1651,4094,0,0,0,0,0,0,25.96,25.98,25.97,9.91,34.36
$GC,946,1.72,439.9,2943,2009,1649,4094,10.8,13.4,68,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2010,1649,1649,4094,0,0,0,0,0,0,26.04,26.06,26.06,9.91,34.56
$STATE,1010,end climb,SURFACE_DEPTH_REACHED
$STATE,1010,begin surface coast
$FINISH,0.0,1.025284
$STATE,1036,end surface coast,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$SM_CCo,1132,0.00,0.000,0,0,1646,454.20
$SM_GC,0.72,28.85,0.00,0.00,0.114,0.000,0.000,242,2011,1646,-6.77,-0.64,454.20,0,0,0,0,0,0,25.82,26.14,25.89
$IRIDIUM_FIX,5744.64,-16600.79,010517,013119
$TT8_MAMPS,0.026964,0.260652
$HUMID,34.64
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.2
$24V_AH,23.58,16.307
$10V_AH,8.75,11.402
$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,46.050,19.175,52.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,268.669,59.738,122.654,715.473,23.516,33.415,363.871,0.000,727.969,0.000,5.443,0.000
$DEVICE_MAMPS,220.987,283.062,4360.148,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.343,96.257,161.245,406.977,703.735,0.000,0.000,0.000,0.000,0.000
$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,7393,75
$CAP_FILE_SIZE,20514,7
$CFSIZE,1024409600,1010892800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,025955,5710.384,-16509.385,3,1.0,37,11.0,0.7,283.8,9,4.9