version: 66.12
glider: 401
mission: 20
dive: 157
start: 5 1 117 3 26 35
data:
$ID,401
$MISSION,20
$DIVE,157
$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,18
$R_STBD_OVSHOOT,15
$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
$GPS1,010517,030801,5710.3882,-16509.6113,4,0.8,15,11.0,1.3,118.6,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-1.6
$GPS2,010517,030801,5710.3882,-16509.6113,4,0.8,15,11.0,1.3,118.6,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5706.695,-16450.922
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.361888,0.051019
$KALMAN_X,-9688.196289,576.673035,-492.271881,45464.085938,-281.612244
$KALMAN_Y,8725.734375,-495.999603,-628.768433,-15356.133789,-116.980377
$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,-439.9,2346,2029,2367,4094,0.0,0.0,0,33,0.00,0.00,-2.38,0.000,16390,0.000,0.000,2347,2029,2696,2696,4095,0,0,0,0,0,0,26.15,24.64,26.13,10.06,35.23
$GC,35,-1.72,-439.9,2346,2029,2696,4095,1.5,0.0,1,50,5.28,4.05,0.00,0.000,4612,0.154,0.261,1862,614,2696,2696,4095,0,0,0,0,0,0,25.61,25.44,25.61,10.12,35.50
$GC,77,-1.72,-439.9,1862,613,2696,4094,6.1,-10.5,4,92,0.00,3.75,0.00,0.000,1030,0.000,0.139,1863,2026,2696,2696,4094,0,0,0,0,0,0,25.63,25.59,25.67,10.13,34.95
$GC,154,-1.72,-439.9,1862,2026,2697,4095,15.1,-11.5,10,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2026,2698,2698,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.13,34.76
$GC,234,-1.72,-439.9,1862,2026,2699,4095,24.4,-11.5,16,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2026,2699,2699,4095,0,0,0,0,0,0,26.08,26.10,26.09,10.13,34.72
$GC,311,-1.72,-439.9,1862,2026,2701,4095,33.7,-12.6,22,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2025,2701,2701,4094,0,0,0,0,0,0,26.15,26.15,26.15,10.13,34.72
$GC,388,-1.72,-439.9,1862,2026,2702,4094,41.9,-11.4,28,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2026,2702,2702,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.13,34.72
$GC,469,-1.72,-439.9,1862,2026,2704,4094,50.2,-11.1,34,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2026,2705,2705,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.12,34.40
$STATE,548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,548,begin apogee
$GC,551,-0.45,0.0,1862,2026,2706,4095,59.0,-11.2,40,589,4.38,0.00,26.42,4.360,10244,0.214,0.000,2256,2026,2174,2174,4094,0,0,0,0,0,0,25.97,25.09,23.98,10.12,35.31
$STATE,590,end apogee,CONTROL_FINISHED_OK
$STATE,590,begin climb
$GC,591,1.72,439.9,2255,2026,2174,4094,61.8,0.0,42,641,7.53,0.00,26.12,4.306,11270,0.137,0.000,2944,2026,1661,1661,4094,0,0,0,0,0,0,25.36,25.56,23.57,10.01,34.56
$GC,705,1.72,439.9,2943,2026,1659,4094,52.9,12.6,50,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2026,1659,1659,4094,0,0,0,0,0,0,25.53,25.55,25.54,9.91,34.01
$GC,782,1.72,439.9,2943,2026,1657,4094,42.0,13.7,56,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2026,1656,1656,4094,0,0,0,0,0,0,25.72,25.74,25.74,9.91,34.36
$GC,863,1.72,439.9,2943,2026,1654,4094,30.4,14.7,62,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2026,1654,1654,4094,0,0,0,0,0,0,25.86,25.87,25.87,9.90,34.17
$GC,944,1.72,439.9,2943,2026,1652,4094,20.4,12.3,68,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2026,1651,1651,4094,0,0,0,0,0,0,25.96,25.98,25.97,9.91,34.56
$GC,1023,1.72,439.9,2943,2026,1650,4094,10.2,12.9,74,1038,0.00,4.07,0.00,0.000,260,0.000,0.278,2944,3438,1649,1649,4094,0,0,0,0,0,0,26.04,25.60,26.06,9.92,34.32
$GC,1066,1.72,439.9,2943,3438,1649,4094,4.1,13.9,77,1081,0.00,3.72,0.00,0.000,1030,0.000,0.122,2944,2032,1648,1648,4094,0,0,0,0,0,0,25.81,25.76,25.84,9.91,35.03
$STATE,1095,end climb,SURFACE_DEPTH_REACHED
$STATE,1095,begin surface coast
$FINISH,-0.0,1.025301
$STATE,1122,end surface coast,CONTROL_FINISHED_OK
$STATE,1122,begin surface
$SM_CCo,1218,0.00,0.000,0,0,1647,453.34
$SM_GC,0.92,28.70,0.00,0.00,0.094,0.000,0.000,232,2028,1647,-6.81,0.14,453.34,0,0,0,0,0,0,25.52,26.13,25.77
$IRIDIUM_FIX,5554.28,-16557.83,010517,030106
$TT8_MAMPS,0.026964,0.248668
$HUMID,34.83
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,8.5
$24V_AH,23.57,16.458
$10V_AH,8.79,11.461
$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,45.875,15.600,52.550,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,279.928,59.972,132.443,774.137,24.841,33.408,398.225,0.000,786.600,0.000,5.445,0.000
$DEVICE_MAMPS,213.538,278.096,4360.148,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.395,103.928,174.160,441.081,761.801,0.000,0.000,0.000,0.000,0.000
$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,7325,81
$CAP_FILE_SIZE,21358,9
$CFSIZE,1024409600,1010794496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,034739,5710.417,-16509.781,4,0.8,13,11.0,0.8,288.9,11,4.9