version: 66.12
glider: 401
mission: 20
dive: 167
start: 5 1 117 7 16 35
data:
$ID,401
$MISSION,20
$DIVE,167
$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,26
$R_STBD_OVSHOOT,17
$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
$GPS1,010517,065732,5711.5054,-16508.2832,5,0.8,16,11.0,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.2
$GPS2,010517,065732,5711.5054,-16508.2832,5,0.8,16,11.0,0.0,0.0,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.812,-16449.586
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.108135,-0.349085
$KALMAN_X,-10972.700195,38.407318,-313.853638,48442.675781,169.345505
$KALMAN_Y,11297.966797,90.853981,270.448853,-17347.060547,309.706757
$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,-439.9,2347,2043,2370,4094,0.0,0.0,0,32,0.00,0.00,-2.30,0.000,16390,0.000,0.000,2348,2043,2696,2696,4095,0,0,0,0,0,0,26.06,24.57,26.04,10.06,34.99
$GC,34,-1.72,-439.9,2348,2043,2696,4094,1.7,0.0,1,49,5.25,0.00,0.00,0.000,4102,0.142,0.000,1865,2043,2696,2696,4094,0,0,0,0,0,0,25.48,25.55,25.53,10.13,35.23
$GC,112,-1.72,-439.9,1865,2042,2697,4094,9.5,-10.1,7,127,0.00,4.05,0.00,0.000,516,0.000,0.258,1865,621,2697,2697,4094,0,0,0,0,0,0,25.89,25.47,25.91,10.14,35.15
$GC,166,-1.72,-439.9,1865,621,2698,4094,16.0,-12.1,11,180,0.00,3.67,0.00,0.000,1030,0.000,0.139,1865,2007,2699,2699,4094,0,0,0,0,0,0,25.70,25.65,25.72,10.14,34.60
$GC,245,-1.72,-439.9,1864,2007,2700,4094,25.2,-11.7,17,259,0.00,4.20,0.00,0.000,260,0.000,0.308,1865,3434,2700,2700,4094,0,0,0,0,0,0,26.04,25.58,26.06,10.13,35.19
$GC,276,-1.72,-439.9,1864,3434,2701,4094,29.0,-12.0,19,291,0.00,3.78,0.00,0.000,1030,0.000,0.134,1865,2016,2701,2701,4095,0,0,0,0,0,0,25.80,25.75,25.84,10.13,35.31
$GC,354,-1.72,-439.9,1864,2015,2702,4094,37.5,-10.6,25,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2015,2702,2702,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.12,35.03
$GC,429,-1.72,-439.9,1864,2015,2704,4094,45.9,-11.3,31,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2015,2704,2704,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.12,34.87
$GC,513,-1.72,-439.9,1864,2016,2705,4095,55.2,-10.9,37,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2015,2705,2705,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.12,34.52
$STATE,542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,542,begin apogee
$GC,546,-0.45,0.0,1865,2012,2706,4095,58.7,-11.5,39,588,4.40,0.00,26.67,4.378,10244,0.221,0.000,2258,2012,2174,2174,4094,0,0,0,0,0,0,25.93,24.74,23.94,10.12,34.72
$STATE,590,end apogee,CONTROL_FINISHED_OK
$STATE,590,begin climb
$GC,591,1.72,439.9,2258,2011,2174,4094,61.4,0.0,42,638,7.47,0.00,25.70,4.303,11270,0.137,0.000,2943,2012,1667,1667,4094,0,0,0,0,0,0,25.35,25.55,23.56,10.01,34.76
$GC,700,1.72,439.9,2942,2011,1666,4094,52.4,12.5,50,715,0.00,0.00,0.88,0.012,8198,0.000,0.000,2943,2012,1666,1666,4094,0,0,0,0,0,0,25.51,25.50,25.52,9.91,34.01
$GC,777,1.72,439.9,2942,2011,1664,4094,42.6,13.0,56,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2011,1663,1663,4094,0,0,0,0,0,0,25.71,25.72,25.72,9.91,34.09
$GC,857,1.72,439.9,2943,2012,1662,4094,32.1,13.3,62,871,0.00,4.18,0.00,0.000,260,0.000,0.278,2943,3442,1661,1661,4094,0,0,0,0,0,0,25.84,25.41,25.86,9.91,33.93
$GC,934,1.72,439.9,2943,3442,1659,4094,20.4,15.5,68,952,0.00,3.75,0.00,0.000,1030,0.000,0.124,2943,2032,1658,1658,4094,0,0,0,0,0,0,25.67,25.63,25.70,9.91,34.32
$GC,1018,1.72,439.9,2943,2032,1657,4094,9.2,12.7,74,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2032,1656,1656,4094,0,0,0,0,0,0,26.02,26.04,26.03,9.91,34.76
$STATE,1071,end climb,SURFACE_DEPTH_REACHED
$STATE,1072,begin surface coast
$FINISH,0.0,1.025309
$STATE,1099,end surface coast,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$SM_CCo,1195,0.00,0.000,0,0,1654,446.47
$SM_GC,0.90,28.92,0.00,0.00,0.107,0.000,0.000,232,2028,1654,-6.81,0.14,446.47,0,0,0,0,0,0,25.42,26.11,25.73
$IRIDIUM_FIX,5554.28,-16557.83,010517,060746
$TT8_MAMPS,0.026964,0.256907
$HUMID,34.83
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,8.5
$24V_AH,23.56,17.220
$10V_AH,8.77,11.749
$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,46.050,27.325,53.250,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,278.214,59.877,124.301,766.159,24.341,33.412,391.257,0.000,778.979,0.000,5.446,0.000
$DEVICE_MAMPS,220.987,307.892,4377.529,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.533,102.599,172.058,439.019,753.798,0.000,0.000,0.000,0.000,0.000
$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,7393,80
$CAP_FILE_SIZE,21792,4
$CFSIZE,1024409600,1010302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,073717,5711.726,-16507.076,4,0.8,14,11.0,0.7,56.4,11,4.6