version: 66.12
glider: 401
mission: 20
dive: 170
start: 5 1 117 8 30 3
data:
$ID,401
$MISSION,20
$DIVE,170
$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,8
$R_STBD_OVSHOOT,29
$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
$GPS1,010517,082407,5711.9131,-16505.4980,3,1.0,48,11.0,0.0,0.0,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-43.3
$GPS2,010517,082901,5711.9448,-16505.3926,5,0.8,15,11.0,0.6,349.6,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.251,-16446.691
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.132041,-0.340909
$KALMAN_X,-9957.009766,507.377075,301.486786,49213.429688,333.063446
$KALMAN_Y,12320.958008,451.133911,612.459595,-18265.037109,230.110840
$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,-439.9,232,2032,1624,4094,0.0,0.0,0,34,0.00,0.00,-9.77,0.000,16390,0.000,0.000,231,2032,2694,2694,4095,0,0,0,0,0,0,26.03,25.20,26.04,9.91,35.78
$GC,36,-1.72,-439.9,231,2032,2693,4094,1.0,0.0,1,73,20.38,4.00,0.00,0.000,2564,0.412,0.231,1844,603,2696,2696,4094,0,0,0,0,0,0,25.47,25.44,25.56,10.13,35.94
$GC,113,-1.72,-439.9,1844,603,2697,4095,21.3,-26.7,6,128,0.00,3.72,0.00,0.000,1030,0.000,0.139,1844,2008,2698,2698,4094,0,0,0,0,0,0,25.67,25.65,25.70,10.13,35.46
$GC,192,-1.72,-439.9,1843,2008,2699,4095,31.3,-12.2,12,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2008,2699,2699,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.13,35.50
$GC,274,-1.72,-439.9,1843,2008,2701,4094,40.6,-11.7,18,289,0.00,4.22,0.00,0.000,260,0.000,0.313,1844,3446,2701,2701,4095,0,0,0,0,0,0,26.11,25.65,26.12,10.12,34.91
$GC,317,-1.72,-439.9,1843,3445,2702,4094,45.9,-12.3,21,335,0.00,3.85,0.00,0.000,1030,0.000,0.137,1843,1995,2702,2702,4094,0,0,0,0,0,0,25.86,25.83,25.90,10.13,34.80
$GC,404,-1.72,-439.9,1843,1995,2704,4094,57.1,-12.9,27,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1995,2705,2705,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.12,34.56
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,437,-0.45,0.0,1844,2038,2705,4094,60.9,-13.0,29,471,4.60,0.00,26.58,4.425,10244,0.211,0.000,2256,2039,2174,2174,4094,0,0,0,0,0,0,25.91,25.02,23.89,10.12,34.60
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,474,1.72,439.9,2256,2038,2174,4094,63.8,0.0,31,525,7.50,4.15,26.23,4.315,10500,0.151,0.295,2949,3430,1661,1661,4094,0,0,0,0,0,0,25.19,25.08,23.53,10.01,34.60
$GC,541,1.72,439.9,2948,3430,1661,4094,59.1,8.9,35,559,0.00,3.85,0.00,0.000,1030,0.000,0.129,2949,2030,1660,1660,4094,0,0,0,0,0,0,25.04,25.00,25.08,9.92,33.85
$GC,625,1.72,439.9,2949,2030,1658,4094,48.2,14.0,41,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2030,1658,1658,4094,0,0,0,0,0,0,25.60,25.62,25.62,9.91,33.85
$GC,702,1.72,439.9,2948,2030,1656,4094,38.0,13.6,47,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2029,1656,1656,4094,0,0,0,0,0,0,25.77,25.78,25.78,9.91,34.60
$GC,783,1.72,439.9,2948,2029,1654,4094,26.9,14.2,53,801,0.00,4.10,0.00,0.000,260,0.000,0.281,2949,3432,1653,1653,4094,0,0,1,0,0,0,25.89,25.45,25.90,9.91,34.48
$GC,830,1.72,439.9,2948,3432,1652,4094,20.1,14.2,56,845,0.00,3.65,0.00,0.000,1030,0.000,0.122,2949,2061,1652,1652,4094,0,0,0,0,0,0,25.68,25.64,25.72,9.91,34.17
$GC,908,1.72,439.9,2948,2061,1650,4094,9.7,13.0,62,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2061,1649,1649,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.91,34.40
$STATE,964,end climb,FINISH_DEPTH_REACHED
$STATE,964,begin subsurface finish
$FINISH1,1.8,1.025297,-161
$GC,970,-0.26,-160.8,2949,2002,1648,4094,1.8,13.7,66,990,6.35,0.00,-6.80,0.000,20486,0.114,0.000,2345,2001,2369,2369,4094,0,0,0,0,0,0,25.85,24.65,25.86,9.92,34.87
$FINISH2,-0.0
$STATE,990,end subsurface finish,CONTROL_FINISHED_OK
$STATE,991,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,073824
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.19
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.53,17.459
$10V_AH,8.76,11.837
$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,38.825,31.800,52.800,0.000,0.000,22.469,18.210,169.006,0.500,0.000,16.644,251.954,0.000,118.323,888.925,49.872,33.432,391.541,0.000,670.649,0.000,7.324,0.000
$DEVICE_MAMPS,412.178,528.879,4424.706,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.293,85.789,144.100,380.283,646.259,0.000,0.000,0.000,0.000,0.000
$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,7398,67
$CAP_FILE_SIZE,26328,13
$CFSIZE,1024409600,1010155520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,010517,082901,5711.945,-16505.393,5,0.8,15,11.0,0.6,349.6,10,4.7