version: 66.12
glider: 401
mission: 20
dive: 172
start: 5 1 117 9 15 57
data:
$ID,401
$MISSION,20
$DIVE,172
$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,16
$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
$GPS1,010517,090946,5711.9771,-16503.7852,4,0.7,13,11.0,0.0,186.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-42.0
$GPS2,010517,091456,5711.9946,-16503.6660,5,0.7,17,11.0,0.6,127.7,11,4.6
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.301,-16444.965
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.112155,-0.347920
$KALMAN_X,-9298.323242,819.150391,665.282837,49608.988281,433.796692
$KALMAN_Y,12923.162109,606.379700,693.481445,-19008.199219,210.441467
$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,-439.9,241,2035,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.65,0.000,16390,0.000,0.000,242,2034,2693,2693,4094,0,0,0,0,0,0,26.02,25.18,26.03,9.92,35.50
$GC,36,-1.72,-439.9,241,2034,2693,4095,0.9,0.0,1,73,20.38,4.00,0.00,0.000,2564,0.417,0.228,1848,612,2697,2697,4094,0,0,0,0,0,0,25.46,25.44,25.54,10.13,36.41
$GC,101,-1.72,-439.9,1848,612,2696,4094,19.5,-29.3,5,120,0.00,3.75,0.00,0.000,1030,0.000,0.139,1849,2021,2697,2697,4095,0,0,0,0,0,0,25.66,25.60,25.68,10.14,35.35
$GC,185,-1.72,-439.9,1848,2021,2698,4094,30.7,-12.8,11,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2021,2699,2699,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.13,35.07
$GC,264,-1.72,-439.9,1848,2022,2700,4094,39.9,-11.6,17,279,0.00,4.18,0.00,0.000,260,0.000,0.308,1848,3444,2700,2700,4094,0,0,0,0,0,0,26.10,25.63,26.11,10.13,34.95
$GC,306,-1.72,-439.9,1848,3444,2701,4094,45.3,-12.7,20,324,0.00,3.78,0.00,0.000,1030,0.000,0.134,1848,2020,2702,2702,4094,0,0,0,0,0,0,25.87,25.83,25.90,10.12,34.83
$GC,394,-1.72,-439.9,1848,2020,2703,4094,56.0,-12.2,26,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2020,2703,2703,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,34.72
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,427,-0.45,0.0,1848,2020,2704,4094,59.2,-10.9,28,473,4.60,0.00,26.77,4.390,10244,0.231,0.000,2257,2020,2173,2173,4094,0,0,0,0,0,0,25.88,24.70,23.91,10.13,35.03
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,476,1.72,439.9,2256,2020,2172,4094,63.0,0.0,31,513,7.75,0.00,25.85,4.325,11270,0.156,0.000,2958,2020,1661,1661,4094,0,0,0,0,0,0,25.34,25.53,23.52,10.01,34.60
$GC,576,1.72,439.9,2958,2018,1660,4094,54.9,12.3,38,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2019,1659,1659,4094,0,0,0,0,0,0,25.46,25.48,25.48,9.91,33.77
$GC,652,1.72,439.9,2958,2019,1657,4094,43.8,14.7,44,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2018,1657,1657,4094,0,0,0,0,0,0,25.68,25.70,25.69,9.91,33.77
$GC,729,1.72,439.9,2957,2018,1655,4094,34.0,13.1,50,744,0.00,4.18,0.00,0.000,260,0.000,0.276,2959,3442,1655,1655,4094,0,0,0,0,0,0,25.82,25.39,25.83,9.91,34.64
$GC,795,1.72,439.9,2958,3442,1653,4094,23.9,15.7,55,814,0.00,3.80,0.00,0.000,1030,0.000,0.124,2959,2019,1653,1653,4094,0,0,0,0,0,0,25.65,25.60,25.68,9.91,34.20
$GC,879,1.72,439.9,2958,2019,1650,4094,12.3,13.0,61,895,0.00,4.03,0.00,0.000,516,0.000,0.276,2959,611,1650,1650,4094,0,0,0,0,0,0,26.00,25.56,26.01,9.92,34.83
$GC,912,1.72,439.9,2958,611,1649,4094,7.9,13.7,63,930,0.00,3.75,0.00,0.000,1030,0.000,0.139,2959,2030,1649,1649,4094,0,0,0,0,0,0,25.75,25.70,25.79,9.92,34.72
$STATE,944,end climb,FINISH_DEPTH_REACHED
$STATE,944,begin subsurface finish
$FINISH1,2.9,1.025293,-160
$GC,949,-0.26,-160.5,2959,2030,1648,4094,2.9,14.3,65,987,7.03,4.35,-6.90,0.000,20740,0.266,4.251,2347,3446,2367,2367,4095,0,0,0,0,0,0,25.77,24.30,25.79,9.92,34.76
$FINISH2,0.1
$STATE,988,end subsurface finish,CONTROL_FINISHED_OK
$STATE,988,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,082512
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.15
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,8.5
$24V_AH,23.52,17.614
$10V_AH,8.73,11.896
$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,39.750,35.800,52.625,0.000,0.000,32.919,17.793,171.991,0.500,0.000,18.703,245.559,0.000,119.688,905.599,51.378,33.436,401.726,0.000,672.536,0.000,7.324,0.000
$DEVICE_MAMPS,417.144,4250.896,4389.944,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.189,85.752,144.110,386.274,648.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,7404,67
$CAP_FILE_SIZE,25969,13
$CFSIZE,1024409600,1010057216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010517,091456,5711.995,-16503.666,5,0.7,17,11.0,0.6,127.7,11,4.6