version: 66.12
glider: 401
mission: 20
dive: 158
start: 5 1 117 3 53 22
data:
$ID,401
$MISSION,20
$DIVE,158
$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,17
$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
$GPS1,010517,034739,5710.4170,-16509.7812,4,0.8,13,11.0,0.8,288.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-43.1
$GPS2,010517,035221,5710.4414,-16509.8926,6,0.8,17,11.0,1.0,33.6,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5706.748,-16451.203
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.365020,-0.017175
$KALMAN_X,-10127.261719,454.839386,-593.508240,45851.687500,-331.963257
$KALMAN_Y,8739.692383,-502.682739,-618.138367,-15278.370117,-18.124146
$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,-439.9,232,2028,1647,4094,0.0,0.0,0,34,0.00,0.00,-9.65,0.000,16390,0.000,0.000,232,2028,2693,2693,4094,0,0,0,0,0,0,26.04,25.19,26.06,9.91,35.54
$GC,36,-1.72,-439.9,232,2028,2694,4095,0.9,0.0,1,68,20.50,0.00,0.00,0.000,2054,0.405,0.000,1849,2022,2696,2696,4094,0,0,0,0,0,0,25.48,25.60,25.56,10.12,36.06
$GC,130,-1.72,-439.9,1848,2022,2697,4094,22.2,-13.8,8,145,0.00,4.03,0.00,0.000,516,0.000,0.256,1849,607,2697,2697,4094,0,0,0,0,0,0,25.98,25.54,25.99,10.13,35.19
$GC,160,-1.72,-439.9,1848,607,2698,4095,26.3,-13.1,10,179,0.00,3.75,0.00,0.000,1030,0.000,0.142,1849,2023,2698,2698,4095,0,0,0,0,0,0,25.73,25.67,25.77,10.13,35.62
$GC,244,-1.72,-439.9,1849,2023,2699,4095,36.6,-11.8,16,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2023,2700,2700,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.13,35.66
$GC,323,-1.72,-439.9,1849,2024,2701,4094,45.8,-12.5,22,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2023,2702,2702,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.13,35.39
$GC,404,-1.72,-439.9,1849,2023,2703,4094,55.5,-12.0,28,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2024,2703,2703,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,35.11
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,436,-0.45,0.0,1849,2024,2703,4094,58.9,-11.7,30,473,4.53,0.00,26.42,4.385,10244,0.219,0.000,2254,2024,2174,2174,4094,0,0,0,0,0,0,25.91,25.03,23.91,10.13,34.48
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,476,1.72,439.9,2254,2024,2173,4094,62.0,0.0,32,526,7.53,0.00,26.15,4.306,11270,0.129,0.000,2945,2024,1660,1660,4094,0,0,0,0,0,0,25.31,25.51,23.56,10.01,34.44
$GC,589,1.72,439.9,2944,2024,1659,4094,52.0,13.8,40,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2024,1658,1658,4094,0,0,0,0,0,0,25.51,25.53,25.52,9.91,33.73
$GC,666,1.72,439.9,2944,2024,1656,4094,41.7,13.1,46,685,0.00,4.18,0.00,0.000,260,0.000,0.281,2945,3444,1656,1656,4094,0,0,0,0,0,0,25.71,25.29,25.72,9.91,34.05
$GC,712,1.72,439.9,2945,3444,1655,4094,34.7,15.1,49,730,0.00,3.78,0.00,0.000,1030,0.000,0.129,2945,2037,1654,1654,4094,0,0,0,0,0,0,25.53,25.47,25.57,9.91,34.17
$GC,796,1.72,439.9,2944,2037,1653,4094,23.3,12.5,55,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2037,1652,1652,4094,0,0,0,0,0,0,25.91,25.92,25.92,9.92,34.13
$GC,874,1.72,439.9,2945,2037,1650,4093,13.1,13.3,61,892,0.00,4.07,0.00,0.000,516,0.000,0.278,2945,614,1649,1649,4094,0,0,0,0,0,0,25.99,25.56,26.01,9.91,34.44
$GC,909,1.72,439.9,2944,613,1649,4094,8.5,13.5,63,927,0.00,3.78,0.00,0.000,1030,0.000,0.139,2945,2043,1648,1648,4094,0,0,0,0,0,0,25.76,25.70,25.79,9.92,34.76
$STATE,954,end climb,FINISH_DEPTH_REACHED
$STATE,954,begin subsurface finish
$FINISH1,1.8,1.025306,-161
$GC,958,-0.26,-161.4,2945,2044,1647,4094,1.8,14.0,66,974,6.28,0.00,-7.05,0.000,20486,0.109,0.000,2347,2045,2366,2366,4094,0,0,0,0,0,0,25.83,24.65,25.85,9.91,34.48
$FINISH2,-0.1
$STATE,975,end subsurface finish,CONTROL_FINISHED_OK
$STATE,975,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,030444
$TT8_MAMPS,0.026215,0.260652
$HUMID,34.68
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.5
$24V_AH,23.56,16.537
$10V_AH,8.75,11.490
$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,38.825,23.575,52.575,0.000,0.000,24.504,20.168,152.917,0.500,0.000,18.347,245.398,0.000,112.345,877.404,46.179,33.433,384.071,0.000,668.442,0.000,7.325,0.000
$DEVICE_MAMPS,404.729,280.579,4384.978,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.326,85.797,144.071,377.370,643.936,0.000,0.000,0.000,0.000,0.000
$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,7465,67
$CAP_FILE_SIZE,24939,12
$CFSIZE,1024409600,1010745344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010517,035221,5710.441,-16509.893,6,0.8,17,11.0,1.0,33.6,10,4.7