version: 66.12
glider: 401
mission: 20
dive: 161
start: 5 1 117 4 58 13
data:
$ID,401
$MISSION,20
$DIVE,161
$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,25
$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
$GPS1,010517,043933,5710.6323,-16510.0215,6,0.7,16,11.0,0.8,274.4,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,6.2
$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,0.320368,-0.176128
$KALMAN_X,-10952.643555,91.621666,-714.250671,47027.171875,-194.113647
$KALMAN_Y,9131.573242,-477.506592,-430.966248,-15527.631836,141.850586
$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,-439.9,2344,2015,2370,4094,0.0,0.0,0,19,0.00,0.00,-1.45,0.000,16390,0.000,0.000,2344,2015,2700,2700,4094,0,0,0,0,0,0,25.88,24.44,25.83,10.05,34.91
$GC,21,-1.72,-439.9,2344,2015,2701,4095,0.0,0.0,0,36,5.32,3.97,0.00,0.000,4612,0.199,0.261,1867,619,2701,2701,4094,0,0,0,0,0,0,25.61,25.46,25.65,10.14,35.50
$GC,52,-1.72,-439.9,1866,619,2701,4094,8.7,-12.8,2,70,0.00,3.72,0.00,0.000,1030,0.000,0.137,1866,2026,2702,2702,4094,0,0,0,0,0,0,25.65,25.60,25.68,10.13,35.15
$GC,136,-1.72,-439.9,1866,2026,2703,4094,18.1,-11.4,8,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2026,2703,2703,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.13,34.99
$GC,214,-1.72,-439.9,1866,2026,2705,4094,26.7,-11.3,14,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2026,2705,2705,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,35.03
$GC,292,-1.72,-439.9,1866,2026,2705,4094,35.1,-10.1,20,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2026,2706,2706,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,34.76
$GC,373,-1.72,-439.9,1866,2026,2707,4094,43.9,-11.1,26,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2026,2708,2708,4095,0,0,0,0,0,0,26.20,26.21,26.20,10.12,35.50
$GC,459,-1.72,-439.9,1866,2026,2710,4094,53.5,-11.2,32,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2026,2710,2710,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.12,34.52
$STATE,499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,499,begin apogee
$GC,502,-0.45,0.0,1866,2026,2710,4094,58.2,-11.8,35,540,4.35,0.00,26.60,4.350,10244,0.214,0.000,2257,2026,2174,2174,4094,0,0,0,0,0,0,25.96,25.07,23.96,10.12,34.72
$STATE,541,end apogee,CONTROL_FINISHED_OK
$STATE,541,begin climb
$GC,542,1.72,439.9,2257,2026,2174,4094,60.8,0.0,37,592,7.50,0.00,26.10,4.258,11270,0.134,0.000,2945,2026,1660,1660,4094,0,0,0,0,0,0,25.34,25.53,23.58,10.01,34.20
$GC,655,1.72,439.9,2944,2026,1658,4094,50.6,13.4,45,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2026,1657,1657,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.91,33.73
$GC,734,1.72,439.9,2944,2026,1656,4094,40.0,13.7,51,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2026,1655,1655,4094,0,0,0,0,0,0,25.72,25.73,25.73,9.91,34.13
$GC,814,1.72,439.9,2944,2026,1653,4094,28.7,14.5,57,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2026,1653,1653,4094,0,0,0,0,0,0,25.86,25.86,25.86,9.91,34.56
$GC,890,1.72,439.9,2944,2026,1651,4094,18.8,13.0,63,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2026,1651,1651,4094,0,0,0,0,0,0,25.94,25.96,25.96,9.91,34.60
$GC,967,1.72,439.9,2944,2026,1649,4094,9.3,12.1,69,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2026,1648,1648,4094,0,0,0,0,0,0,26.03,26.04,26.04,9.91,34.40
$STATE,1031,end climb,SURFACE_DEPTH_REACHED
$STATE,1031,begin surface coast
$FINISH,-0.1,1.025285
$STATE,1058,end surface coast,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$SM_CCo,1153,0.00,0.000,0,0,1647,453.34
$SM_GC,0.92,28.73,0.00,0.00,0.094,0.000,0.000,232,2029,1647,-6.81,0.18,453.34,0,0,0,0,0,0,25.46,26.12,25.75
$IRIDIUM_FIX,5554.28,-16557.83,010517,034846
$TT8_MAMPS,0.026215,0.24717
$HUMID,34.87
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.0,8.4
$24V_AH,23.58,16.757
$10V_AH,8.78,11.575
$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,45.900,11.475,52.700,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,258.774,59.623,127.969,731.350,24.068,33.415,371.521,0.000,743.889,0.000,5.447,0.000
$DEVICE_MAMPS,213.538,260.715,4350.216,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.067,97.549,163.425,419.159,719.791,0.000,0.000,0.000,0.000,0.000
$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,7394,76
$CAP_FILE_SIZE,20203,10
$CFSIZE,1024409600,1010597888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,051825,5710.801,-16509.734,3,0.8,35,11.0,0.0,0.0,10,4.4