version: 66.12
glider: 401
mission: 20
dive: 160
start: 5 1 117 4 40 34
data:
$ID,401
$MISSION,20
$DIVE,160
$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,17
$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
$GPS1,010517,043244,5710.5791,-16509.9062,3,0.8,14,11.0,0.0,0.0,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-42.7
$GPS2,010517,043933,5710.6323,-16510.0215,6,0.7,16,11.0,0.8,274.4,11,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5706.939,-16451.330
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.323457,-0.170222
$KALMAN_X,-10717.514648,214.205811,-709.515015,46667.167969,-234.220459
$KALMAN_Y,9022.097656,-487.562042,-510.768372,-15334.611328,148.098572
$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,-439.9,231,2033,1648,4094,0.0,0.0,0,36,0.00,0.00,-9.55,0.000,16390,0.000,0.000,231,2033,2691,2691,4094,0,0,0,0,0,0,26.03,25.18,26.05,9.91,35.70
$GC,38,-1.72,-439.9,231,2033,2691,4094,0.9,0.0,1,70,20.62,0.00,0.00,0.000,2566,0.407,0.000,1848,2026,2694,2694,4094,0,0,0,0,0,0,25.41,25.53,25.49,10.13,35.74
$GC,133,-1.72,-439.9,1847,2026,2696,4095,24.5,-13.6,8,147,0.00,4.03,0.00,0.000,516,0.000,0.258,1848,609,2696,2696,4094,0,0,1,0,0,0,25.92,25.49,25.94,10.14,35.74
$GC,187,-1.72,-439.9,1847,609,2697,4095,32.1,-13.7,12,205,0.00,3.72,0.00,0.000,1030,0.000,0.137,1848,2019,2697,2697,4094,0,0,0,0,0,0,25.73,25.69,25.76,10.12,35.23
$GC,271,-1.72,-439.9,1847,2019,2699,4094,42.2,-12.0,18,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2019,2699,2699,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.12,34.87
$GC,354,-1.72,-439.9,1847,2019,2700,4094,52.3,-12.6,24,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2019,2701,2701,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.12,34.56
$STATE,405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,405,begin apogee
$GC,409,-0.45,0.0,1848,2019,2702,4094,58.9,-12.4,28,443,4.60,0.00,26.55,4.392,10244,0.226,0.000,2256,2020,2174,2174,4094,0,0,0,0,0,0,25.86,24.99,23.87,10.12,35.31
$STATE,444,end apogee,CONTROL_FINISHED_OK
$STATE,444,begin climb
$GC,445,1.72,439.9,2256,2020,2174,4094,62.0,0.0,30,492,7.53,0.00,26.15,4.291,11270,0.137,0.000,2943,2020,1660,1660,4094,0,0,0,0,0,0,25.26,25.44,23.50,10.01,34.44
$GC,556,1.72,439.9,2943,2020,1658,4094,52.0,13.2,38,570,0.00,4.10,0.00,0.000,516,0.000,0.266,2943,613,1658,1658,4095,0,0,1,0,0,0,25.48,25.09,25.49,9.92,34.20
$GC,598,1.72,439.9,2943,613,1657,4094,46.1,13.9,41,612,0.00,3.75,0.00,0.000,1030,0.000,0.134,2944,2013,1656,1656,4094,0,0,0,0,0,0,25.35,25.31,25.39,9.91,34.24
$GC,675,1.72,439.9,2943,2013,1655,4094,35.5,13.3,47,690,0.00,4.18,0.00,0.000,260,0.000,0.286,2944,3434,1654,1654,4094,0,0,0,0,0,0,25.77,25.33,25.77,9.91,33.93
$GC,742,1.72,439.9,2943,3434,1653,4094,25.4,16.0,52,756,0.00,3.72,0.00,0.000,1030,0.000,0.127,2944,2041,1652,1652,4094,0,0,0,0,0,0,25.60,25.56,25.63,9.91,34.32
$GC,819,1.72,439.9,2943,2042,1650,4094,15.5,12.6,58,833,0.00,4.10,0.00,0.000,516,0.000,0.278,2944,610,1650,1650,4094,0,0,0,0,0,0,25.95,25.51,25.96,9.92,34.60
$GC,863,1.72,439.9,2943,610,1649,4094,9.9,12.8,61,877,0.00,3.72,0.00,0.000,1030,0.000,0.137,2944,2024,1648,1648,4094,0,0,0,0,0,0,25.73,25.67,25.78,9.92,34.44
$STATE,916,end climb,FINISH_DEPTH_REACHED
$STATE,916,begin subsurface finish
$FINISH1,2.3,1.025309,-162
$GC,921,-0.26,-161.6,2943,2024,1647,4094,2.3,13.6,65,954,6.38,4.32,-6.70,0.000,20740,0.134,4.229,2344,3434,2369,2369,4094,0,0,0,0,0,0,25.82,24.31,25.84,9.92,34.76
$FINISH2,0.2
$STATE,955,end subsurface finish,CONTROL_FINISHED_OK
$STATE,955,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,034846
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.43
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,8.5
$24V_AH,23.50,16.691
$10V_AH,8.75,11.548
$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,39.125,35.650,52.700,0.000,0.000,55.777,25.675,176.209,0.500,0.000,17.224,237.129,59.411,101.711,932.532,47.880,33.436,366.190,0.000,659.905,0.000,6.985,0.000
$DEVICE_MAMPS,407.212,4228.549,4392.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.332,85.802,144.081,368.383,634.951,0.000,0.000,0.000,0.000,0.000
$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,7388,67
$CAP_FILE_SIZE,25245,7
$CFSIZE,1024409600,1010647040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,010517,043933,5710.632,-16510.021,6,0.7,16,11.0,0.8,274.4,11,4.9