version: 66.12
glider: 401
mission: 20
dive: 159
start: 5 1 117 4 11 26
data:
$ID,401
$MISSION,20
$DIVE,159
$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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,010517,035221,5710.4414,-16509.8926,6,0.8,17,11.0,1.0,33.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-1.5
$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,0.358519,-0.071900
$KALMAN_X,-10351.947266,307.085419,-644.754456,46269.890625,-240.540497
$KALMAN_Y,8759.495117,-541.315979,-584.001770,-15291.755859,17.004700
$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,-439.9,2346,2046,2366,4095,0.0,0.0,0,33,0.00,0.00,-3.28,0.000,16390,0.000,0.000,2347,2048,2688,2688,4094,0,0,0,0,0,0,26.15,25.27,26.15,10.06,35.31
$GC,35,-1.72,-439.9,2347,2048,2688,4094,0.1,0.0,1,53,5.20,0.00,0.00,0.000,4102,0.186,0.000,1880,2048,2689,2689,4094,0,0,0,0,0,0,25.58,25.64,25.61,10.12,35.19
$GC,116,-1.72,-439.9,1879,2048,2690,4095,7.3,-9.0,7,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2048,2690,2690,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.12,35.11
$GC,192,-1.72,-439.9,1879,2048,2691,4095,15.7,-11.3,13,211,0.00,4.05,0.00,0.000,516,0.000,0.256,1880,619,2691,2691,4094,0,0,0,0,0,0,26.06,25.63,26.07,10.13,35.15
$GC,226,-1.72,-439.9,1879,619,2692,4095,19.7,-11.5,15,245,0.00,3.67,0.00,0.000,1030,0.000,0.139,1880,2012,2692,2692,4094,0,0,0,0,0,0,25.82,25.76,25.85,10.13,34.64
$GC,311,-1.72,-439.9,1879,2012,2694,4094,29.3,-11.0,21,327,0.00,4.18,0.00,0.000,260,0.000,0.310,1880,3439,2694,2694,4094,0,0,0,0,0,0,26.15,25.68,26.16,10.13,34.64
$GC,343,-1.72,-439.9,1879,3439,2694,4094,32.9,-11.1,23,357,0.00,3.72,0.00,0.000,1030,0.000,0.132,1879,2028,2695,2695,4095,0,0,0,0,0,0,25.91,25.86,25.93,10.13,35.15
$GC,421,-1.72,-439.9,1879,2028,2696,4094,40.7,-9.7,29,435,0.00,4.00,0.00,0.000,516,0.000,0.263,1879,606,2696,2696,4094,0,0,0,0,0,0,26.22,25.76,26.22,10.12,34.68
$GC,451,-1.72,-439.9,1879,606,2696,4094,44.2,-10.6,31,466,0.00,3.70,0.00,0.000,1030,0.000,0.144,1880,2016,2696,2696,4094,0,0,0,0,0,0,25.97,25.90,25.97,10.12,35.03
$GC,533,-1.72,-439.9,1879,2016,2698,4094,52.7,-10.4,37,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2016,2698,2698,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.11,35.19
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,590,-0.45,0.0,1879,2016,2699,4094,58.1,-9.9,41,623,4.20,0.00,26.25,4.353,10244,0.216,0.000,2257,2016,2174,2174,4095,0,0,0,0,0,0,25.98,25.10,24.01,10.12,34.60
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.72,439.9,2257,2016,2173,4094,60.6,0.0,43,669,7.60,4.07,26.15,4.263,10756,0.161,0.266,2945,610,1661,1661,4094,0,0,0,0,0,0,25.28,25.18,23.59,10.01,34.32
$GC,686,1.72,439.9,2944,610,1661,4094,57.8,7.6,47,700,0.00,3.83,0.00,0.000,1030,0.000,0.132,2945,2020,1661,1661,4094,0,0,0,0,0,0,25.06,25.01,25.08,9.91,34.01
$GC,764,1.72,439.9,2944,2020,1659,4094,47.4,13.2,53,778,0.00,4.20,0.00,0.000,260,0.000,0.288,2945,3438,1658,1658,4094,0,0,0,0,0,0,25.60,25.18,25.61,9.91,34.01
$GC,830,1.72,439.9,2944,3438,1656,4094,37.1,15.8,58,845,0.00,3.80,0.00,0.000,1030,0.000,0.127,2945,2024,1656,1656,4094,0,0,0,0,0,0,25.49,25.44,25.53,9.91,33.93
$GC,908,1.72,439.9,2945,2023,1654,4094,26.0,12.6,64,923,0.00,4.07,0.00,0.000,516,0.000,0.268,2945,602,1653,1653,4094,0,0,0,0,0,0,25.87,25.45,25.88,9.91,34.24
$GC,950,1.72,439.9,2944,602,1653,4094,20.4,13.1,67,968,0.00,3.78,0.00,0.000,1030,0.000,0.137,2945,2026,1652,1652,4094,0,0,0,0,0,0,25.66,25.61,25.69,9.91,34.28
$GC,1034,1.72,439.9,2944,2025,1650,4094,9.1,13.3,73,1050,0.00,4.10,0.00,0.000,260,0.000,0.286,2945,3435,1650,1650,4094,0,0,0,0,0,0,26.01,25.57,26.02,9.92,34.32
$GC,1078,1.72,439.9,2944,3435,1649,4094,2.4,15.0,76,1093,0.00,3.72,0.00,0.000,1030,0.000,0.132,2945,2034,1649,1649,4094,0,0,0,0,0,0,25.78,25.74,25.82,9.92,34.64
$STATE,1107,end climb,SURFACE_DEPTH_REACHED
$STATE,1107,begin surface coast
$FINISH,0.0,1.014543
$STATE,1135,end surface coast,CONTROL_FINISHED_OK
$STATE,1135,begin surface
$SM_CCo,1231,0.00,0.000,0,0,1648,452.48
$SM_GC,0.95,28.77,0.00,0.00,0.097,0.000,0.000,231,2033,1648,-6.81,0.36,452.48,0,0,0,0,0,0,25.44,26.10,25.74
$IRIDIUM_FIX,5554.28,-16557.83,010517,030444
$TT8_MAMPS,0.025466,0.256907
$HUMID,34.48
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.5
$24V_AH,23.59,16.604
$10V_AH,8.77,11.519
$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,45.775,54.900,52.400,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,290.003,59.917,134.761,773.894,26.326,33.411,427.127,0.000,786.359,0.000,5.447,0.000
$DEVICE_MAMPS,216.021,310.375,4352.699,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.247,102.510,172.011,446.760,761.456,0.000,0.000,0.000,0.000,0.000
$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,7383,80
$CAP_FILE_SIZE,25716,7
$CFSIZE,1024409600,1010696192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,043244,5710.579,-16509.906,3,0.8,14,11.0,0.0,0.0,10,4.9