version: 66.12
glider: 401
mission: 20
dive: 163
start: 5 1 117 5 42 7
data:
$ID,401
$MISSION,20
$DIVE,163
$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,13
$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
$GPS1,010517,052329,5710.8452,-16509.7852,5,0.9,15,11.0,0.7,318.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-0.1
$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,0.270010,-0.246198
$KALMAN_X,-11269.388672,-35.726814,-684.076904,47678.007812,-82.534019
$KALMAN_Y,9661.903320,-344.510895,-223.720444,-16004.129883,207.257523
$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,-439.9,2346,2015,2368,4094,0.0,0.0,0,37,0.00,0.00,-3.03,0.000,16390,0.000,0.000,2346,2015,2693,2693,4095,0,0,0,0,0,0,26.12,24.61,26.11,10.05,35.07
$GC,39,-1.72,-439.9,2346,2015,2694,4094,0.1,0.0,1,53,5.20,0.00,0.00,0.000,4102,0.129,0.000,1864,2015,2694,2694,4095,0,0,0,0,0,0,25.48,25.53,25.51,10.13,35.23
$GC,116,-1.72,-439.9,1863,2015,2694,4095,7.9,-9.2,7,134,0.00,4.03,0.00,0.000,516,0.000,0.263,1864,610,2694,2694,4094,0,0,0,0,0,0,25.88,25.45,25.89,10.12,34.91
$GC,150,-1.72,-439.9,1863,610,2696,4094,12.0,-11.1,9,168,0.00,3.75,0.00,0.000,1030,0.000,0.142,1864,2020,2696,2696,4094,0,0,0,0,0,0,25.65,25.60,25.69,10.13,35.70
$GC,234,-1.72,-439.9,1863,2021,2697,4095,21.9,-11.4,15,250,0.00,4.18,0.00,0.000,260,0.000,0.305,1864,3442,2697,2697,4095,0,0,0,0,0,0,26.02,25.56,26.03,10.13,34.91
$GC,265,-1.72,-439.9,1863,3442,2698,4094,25.6,-11.6,17,284,0.00,3.72,0.00,0.000,1030,0.000,0.134,1864,2040,2698,2698,4095,0,0,0,0,0,0,25.79,25.74,25.81,10.13,35.50
$GC,349,-1.72,-439.9,1864,2040,2699,4094,34.7,-10.5,23,365,0.00,4.05,0.00,0.000,516,0.000,0.266,1864,607,2700,2700,4094,0,0,0,0,0,0,26.11,25.67,26.13,10.12,34.76
$GC,382,-1.72,-439.9,1863,607,2700,4094,38.2,-10.9,25,397,0.00,3.85,0.00,0.000,1030,0.000,0.144,1864,2065,2700,2700,4095,0,0,0,0,0,0,25.86,25.82,25.87,10.12,34.99
$GC,459,-1.72,-439.9,1863,2066,2702,4094,47.2,-11.2,31,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2066,2702,2702,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.12,34.91
$GC,539,-1.72,-439.9,1863,2066,2703,4094,56.3,-11.4,37,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2066,2704,2704,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.12,34.80
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,572,-0.45,0.0,1864,2000,2704,4094,59.4,-11.0,39,607,4.35,0.08,26.50,4.402,10244,0.219,0.333,2254,2048,2174,2174,4094,0,0,0,0,0,0,25.94,25.06,23.94,10.12,34.36
$STATE,608,end apogee,CONTROL_FINISHED_OK
$STATE,608,begin climb
$GC,609,1.72,439.9,2254,2048,2174,4094,62.3,0.0,41,656,7.57,0.00,26.05,4.313,11270,0.137,0.000,2946,2048,1662,1662,4094,0,0,0,0,0,0,25.32,25.51,23.55,10.01,34.56
$GC,718,1.72,439.9,2946,2048,1660,4094,52.8,13.0,49,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2048,1660,1660,4094,0,0,0,0,0,0,25.50,25.51,25.51,9.91,34.13
$GC,799,1.72,439.9,2946,2048,1658,4094,42.1,13.2,55,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2048,1658,1658,4094,0,0,0,0,0,0,25.71,25.72,25.72,9.91,34.20
$GC,880,1.72,439.9,2946,2048,1655,4094,31.0,13.8,61,895,0.00,4.00,0.00,0.000,260,0.000,0.276,2947,3417,1655,1655,4095,0,0,0,0,0,0,25.84,25.41,25.86,9.91,34.83
$GC,910,1.72,439.9,2946,3417,1655,4094,26.5,14.4,63,929,0.00,3.65,0.00,0.000,1030,0.000,0.127,2946,2053,1654,1654,4094,0,0,0,0,0,0,25.63,25.58,25.66,9.91,34.72
$GC,995,1.72,439.9,2946,2053,1652,4094,15.6,12.5,69,1010,0.00,4.12,0.00,0.000,516,0.000,0.278,2946,613,1652,1652,4094,0,0,0,0,0,0,25.98,25.55,25.99,9.91,34.76
$GC,1039,1.72,439.9,2946,613,1651,4094,9.6,13.6,72,1057,0.00,3.70,0.00,0.000,1030,0.000,0.139,2947,2014,1650,1650,4094,0,0,0,0,0,0,25.75,25.70,25.79,9.91,34.48
$STATE,1096,end climb,SURFACE_DEPTH_REACHED
$STATE,1096,begin surface coast
$FINISH,-0.0,1.002648
$STATE,1123,end surface coast,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$SM_CCo,1219,0.00,0.000,0,0,1648,451.62
$SM_GC,0.90,28.80,0.00,0.00,0.099,0.000,0.000,232,2019,1648,-6.81,-0.27,451.62,0,0,0,0,0,0,25.47,26.10,25.75
$IRIDIUM_FIX,5554.28,-16557.83,010517,043530
$TT8_MAMPS,0.026215,0.261401
$HUMID,34.52
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,8.5
$24V_AH,23.55,16.905
$10V_AH,8.77,11.633
$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,45.925,39.250,52.550,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,277.567,59.778,144.248,764.737,26.331,33.410,431.749,0.000,777.044,0.000,5.447,0.000
$DEVICE_MAMPS,218.504,332.722,4402.359,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.005,99.980,167.736,443.529,753.106,0.000,0.000,0.000,0.000,0.000
$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,7418,78
$CAP_FILE_SIZE,24880,13
$CFSIZE,1024409600,1010499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,060317,5711.092,-16509.195,4,0.8,18,11.0,0.0,38.6,10,4.9