version: 66.12
glider: 401
mission: 20
dive: 162
start: 5 1 117 5 24 30
data:
$ID,401
$MISSION,20
$DIVE,162
$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
$GPS1,010517,051825,5710.8013,-16509.7344,3,0.8,35,11.0,0.0,0.0,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-44.0
$GPS2,010517,052329,5710.8452,-16509.7852,5,0.9,15,11.0,0.7,318.1,9,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.152,-16451.094
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.242985,-0.272786
$KALMAN_X,-11078.284180,60.554321,-714.036926,47416.218750,-119.501968
$KALMAN_Y,9502.491211,-397.542084,-333.162537,-15689.164062,264.585052
$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,-439.9,232,2035,1647,4094,0.0,0.0,0,34,0.00,0.00,-9.65,0.000,16390,0.000,0.000,232,2035,2690,2690,4095,0,0,0,0,0,0,26.03,25.19,26.04,9.91,36.02
$GC,36,-1.72,-439.9,232,2035,2690,4094,0.8,0.0,1,64,20.65,0.00,0.00,0.000,2566,0.417,0.000,1848,2029,2692,2692,4094,0,0,0,0,0,0,25.46,25.58,25.55,10.13,35.62
$GC,127,-1.72,-439.9,1848,2029,2694,4095,22.0,-13.9,8,142,0.00,4.03,0.00,0.000,516,0.000,0.263,1848,615,2694,2694,4094,0,0,1,0,0,0,25.96,25.53,25.98,10.13,35.54
$GC,182,-1.72,-439.9,1848,615,2696,4095,29.5,-13.5,12,197,0.00,3.72,0.00,0.000,1030,0.000,0.139,1849,2024,2695,2695,4095,0,0,0,0,0,0,25.76,25.71,25.79,10.13,35.54
$GC,261,-1.72,-439.9,1848,2024,2696,4094,38.8,-11.3,18,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2024,2697,2697,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.12,35.62
$GC,342,-1.72,-439.9,1848,2024,2698,4094,48.7,-12.2,24,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2024,2699,2699,4094,0,0,0,0,0,0,26.16,26.18,26.17,10.13,34.87
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,426,-0.45,0.0,1848,2025,2700,4094,58.4,-12.2,30,460,4.60,0.00,26.30,4.363,10244,0.219,0.000,2260,2025,2173,2173,4094,0,0,0,0,0,0,25.90,25.02,23.93,10.12,35.03
$STATE,461,end apogee,CONTROL_FINISHED_OK
$STATE,462,begin climb
$GC,463,1.72,439.9,2259,2025,2174,4094,61.2,0.0,32,510,7.57,4.10,26.15,4.288,10756,0.154,0.268,2947,617,1661,1661,4094,0,0,0,0,0,0,25.22,25.11,23.53,10.01,34.68
$GC,526,1.72,439.9,2946,618,1661,4094,57.9,8.6,36,541,0.00,3.80,0.00,0.000,1030,0.000,0.132,2947,2020,1661,1661,4094,0,0,0,0,0,0,25.04,24.99,25.06,9.92,33.89
$GC,604,1.72,439.9,2947,2020,1659,4094,48.0,12.6,42,619,0.00,4.18,0.00,0.000,260,0.000,0.281,2947,3433,1658,1658,4094,0,0,0,0,0,0,25.58,25.17,25.59,9.91,33.89
$GC,659,1.72,439.9,2947,3433,1657,4095,39.5,15.5,46,674,0.00,3.72,0.00,0.000,1030,0.000,0.124,2947,2048,1656,1656,4094,0,0,0,0,0,0,25.46,25.41,25.48,9.91,34.17
$GC,736,1.72,439.9,2947,2048,1654,4094,28.0,14.6,52,751,0.00,4.12,0.00,0.000,516,0.000,0.273,2947,611,1654,1654,4094,0,0,0,0,0,0,25.84,25.43,25.84,9.91,34.13
$GC,790,1.72,439.9,2947,611,1653,4094,21.1,12.9,56,804,0.00,3.70,0.00,0.000,1030,0.000,0.137,2947,2008,1653,1653,4094,0,0,0,0,0,0,25.65,25.58,25.68,9.91,35.11
$GC,868,1.72,439.9,2947,2008,1651,4094,11.0,13.1,62,883,0.00,4.15,0.00,0.000,260,0.000,0.281,2947,3440,1650,1650,4094,0,0,0,0,0,0,25.98,25.55,26.00,9.91,35.19
$STATE,922,end climb,FINISH_DEPTH_REACHED
$STATE,922,begin subsurface finish
$FINISH1,2.6,1.025311,-162
$GC,931,-0.26,-161.7,2948,2021,1648,4094,2.6,15.4,66,948,6.40,0.00,-6.95,0.000,20486,0.134,0.000,2346,2017,2368,2368,4094,0,0,0,0,0,0,25.82,24.63,25.83,9.92,34.76
$FINISH2,0.2
$STATE,949,end subsurface finish,CONTROL_FINISHED_OK
$STATE,949,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,043530
$TT8_MAMPS,0.026215,0.262899
$HUMID,35.46
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,8.5
$24V_AH,23.53,16.838
$10V_AH,8.73,11.604
$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,39.225,39.300,52.450,0.000,0.000,22.750,21.444,174.052,0.500,0.000,16.656,249.496,0.000,96.046,884.786,46.438,33.436,351.516,0.000,655.427,0.000,7.309,0.000
$DEVICE_MAMPS,417.144,280.579,4362.631,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.433,85.840,144.088,368.335,630.095,0.000,0.000,0.000,0.000,0.000
$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,7377,67
$CAP_FILE_SIZE,24717,4
$CFSIZE,1024409600,1010548736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,010517,052329,5710.845,-16509.785,5,0.9,15,11.0,0.7,318.1,9,4.9