version: 66.12
glider: 401
mission: 20
dive: 173
start: 5 1 117 9 34 18
data:
$ID,401
$MISSION,20
$DIVE,173
$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,23
$R_STBD_OVSHOOT,10
$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
$GPS1,010517,091456,5711.9946,-16503.6660,5,0.7,17,11.0,0.6,127.7,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,13.6
$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,0.184541,-0.315112
$KALMAN_X,-9502.763672,915.091003,767.659607,49648.765625,331.628723
$KALMAN_Y,13199.831055,697.507568,706.921387,-19388.894531,176.269165
$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,-439.9,2347,2012,2367,4094,0.0,0.0,0,19,0.00,0.00,-1.62,0.000,16390,0.000,0.000,2347,2012,2696,2696,4094,0,0,0,0,0,0,25.86,24.42,25.82,10.06,35.11
$GC,21,-1.72,-439.9,2347,2012,2696,4094,0.0,0.0,0,36,5.32,3.97,0.00,0.000,4612,0.174,0.261,1864,619,2696,2696,4095,0,0,0,0,0,0,25.60,25.44,25.63,10.14,35.31
$GC,65,-1.72,-439.9,1863,619,2697,4094,8.1,-11.5,3,84,0.00,3.75,0.00,0.000,1030,0.000,0.142,1864,2028,2697,2697,4094,0,0,0,0,0,0,25.65,25.59,25.68,10.13,35.15
$GC,149,-1.72,-439.9,1863,2028,2699,4095,17.8,-11.2,9,165,0.00,4.18,0.00,0.000,260,0.000,0.310,1864,3443,2699,2699,4095,0,0,0,0,0,0,26.00,25.54,26.01,10.13,34.83
$GC,205,-1.72,-439.9,1863,3443,2700,4095,24.1,-11.4,13,224,0.00,3.72,0.00,0.000,1030,0.000,0.132,1864,2043,2700,2700,4094,0,0,0,0,0,0,25.80,25.75,25.83,10.14,35.03
$GC,289,-1.72,-439.9,1863,2043,2701,4094,33.7,-11.5,19,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2039,2702,2702,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,34.80
$GC,368,-1.72,-439.9,1863,2038,2703,4094,42.9,-12.6,25,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2039,2703,2703,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.12,34.87
$GC,449,-1.72,-439.9,1863,2038,2705,4094,52.9,-12.5,31,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2038,2705,2705,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.12,35.19
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,493,-0.45,0.0,1863,2039,2706,4094,58.0,-12.5,34,536,4.38,0.00,26.58,4.323,10244,0.216,0.000,2256,2038,2175,2175,4094,0,0,0,0,0,0,25.93,24.75,23.97,10.12,34.68
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,538,1.72,439.9,2256,2038,2175,4094,60.5,0.0,37,584,7.53,0.00,26.27,4.246,11270,0.142,0.000,2943,2039,1660,1660,4094,0,0,0,0,0,0,25.36,25.56,23.58,10.01,34.52
$GC,648,1.72,439.9,2942,2038,1658,4094,50.1,14.5,45,662,0.00,4.20,0.00,0.000,260,0.000,0.283,2943,3444,1658,1658,4094,0,0,0,0,0,0,25.51,25.10,25.52,9.91,34.13
$GC,690,1.72,439.9,2943,3445,1657,4094,44.0,14.4,48,708,0.00,3.83,0.00,0.000,1030,0.000,0.127,2943,2027,1657,1657,4094,0,0,0,0,0,0,25.39,25.34,25.45,9.91,34.28
$GC,774,1.72,439.9,2943,2027,1655,4094,32.8,12.4,54,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2027,1654,1654,4094,0,0,0,0,0,0,25.79,25.80,25.80,9.91,34.48
$GC,852,1.72,439.9,2943,2027,1652,4094,22.2,13.1,60,867,0.00,4.12,0.00,0.000,260,0.000,0.281,2943,3442,1652,1652,4094,0,0,1,0,0,0,25.90,25.47,25.91,9.92,34.17
$GC,882,1.72,439.9,2942,3442,1651,4094,17.9,13.6,62,897,0.00,3.65,0.00,0.000,1030,0.000,0.124,2943,2070,1650,1650,4094,0,0,0,0,0,0,25.69,25.64,25.71,9.92,34.20
$GC,961,1.72,439.9,2942,2070,1649,4094,7.2,13.1,68,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2070,1648,1648,4094,0,0,0,0,0,0,26.01,26.03,26.03,9.91,34.60
$STATE,1004,end climb,SURFACE_DEPTH_REACHED
$STATE,1004,begin surface coast
$FINISH,-0.1,1.025262
$STATE,1032,end surface coast,CONTROL_FINISHED_OK
$STATE,1032,begin surface
$SM_CCo,1129,0.00,0.000,0,0,1647,453.34
$SM_GC,1.02,28.85,0.12,0.00,0.099,0.281,0.000,232,1999,1647,-6.81,0.77,453.34,0,0,0,0,0,0,25.44,25.82,25.73
$IRIDIUM_FIX,5554.28,-16557.83,010517,082512
$TT8_MAMPS,0.026215,0.256158
$HUMID,34.48
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,8.5
$24V_AH,23.58,17.681
$10V_AH,8.75,11.923
$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,46.075,35.375,52.850,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,263.327,60.438,125.343,713.544,24.228,33.410,384.461,0.000,726.349,0.000,5.445,0.000
$DEVICE_MAMPS,216.021,310.375,4322.903,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.634,93.587,157.008,411.568,702.442,0.000,0.000,0.000,0.000,0.000
$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,7365,73
$CAP_FILE_SIZE,22277,8
$CFSIZE,1024409600,1010008064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,095353,5711.922,-16502.086,3,0.8,13,11.0,0.0,0.0,10,5.0