version: 66.12
glider: 401
mission: 20
dive: 174
start: 5 1 117 10 0 0
data:
$ID,401
$MISSION,20
$DIVE,174
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,010517,095353,5711.9219,-16502.0859,3,0.8,13,11.0,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-44.1
$GPS2,010517,095858,5711.9229,-16501.9512,5,0.8,22,11.0,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.229,-16443.250
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.223887,-0.288617
$KALMAN_X,-8699.824219,1190.420776,1035.734863,49988.476562,400.454102
$KALMAN_Y,13410.972656,722.606628,711.697571,-19759.482422,102.415100
$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,-439.9,231,2037,1647,4094,0.0,0.0,0,34,0.00,0.00,-9.57,0.000,16390,0.000,0.000,231,2037,2692,2692,4094,0,0,0,0,0,0,26.03,25.20,26.05,9.92,35.50
$GC,36,-1.72,-439.9,231,2037,2692,4095,0.9,0.0,1,68,20.62,3.88,0.00,0.000,2564,0.412,0.233,1850,630,2694,2694,4094,0,0,0,0,0,0,25.46,25.44,25.54,10.13,35.50
$GC,109,-1.72,-439.9,1850,630,2696,4094,20.3,-27.2,6,127,0.00,3.67,0.00,0.000,1030,0.000,0.139,1851,2016,2696,2696,4094,0,0,0,0,0,0,25.66,25.62,25.72,10.14,35.62
$GC,193,-1.72,-439.9,1850,2016,2697,4094,31.0,-12.3,12,209,0.00,4.18,0.00,0.000,260,0.000,0.298,1850,3443,2697,2697,4094,0,0,0,0,0,0,26.03,25.57,26.04,10.13,35.27
$GC,237,-1.72,-439.9,1850,3443,2698,4094,36.1,-11.7,15,252,0.00,3.70,0.00,0.000,1030,0.000,0.132,1850,2044,2698,2698,4094,0,0,0,0,0,0,25.82,25.75,25.84,10.13,35.74
$GC,315,-1.72,-439.9,1850,2044,2700,4094,45.7,-11.6,21,330,0.00,4.05,0.00,0.000,516,0.000,0.268,1850,616,2700,2700,4094,0,0,0,0,0,0,26.13,25.73,26.14,10.13,35.43
$GC,374,-1.72,-439.9,1850,616,2702,4095,54.1,-14.2,25,394,0.00,3.67,0.00,0.000,1030,0.000,0.142,1850,2014,2702,2702,4095,0,0,0,0,0,0,25.89,25.84,25.91,10.12,34.72
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,408,begin apogee
$GC,411,-0.45,0.0,1850,2014,2702,4094,58.7,-13.7,27,445,4.53,0.00,26.42,4.350,10244,0.214,0.000,2255,2014,2174,2174,4094,0,0,0,0,0,0,25.87,25.01,23.89,10.12,34.68
$STATE,446,end apogee,CONTROL_FINISHED_OK
$STATE,446,begin climb
$GC,448,1.72,439.9,2255,2014,2174,4094,61.7,0.0,29,495,7.62,4.10,26.20,4.273,10756,0.156,0.268,2945,611,1661,1661,4094,0,0,0,0,0,0,25.19,25.09,23.53,10.01,34.52
$GC,524,1.78,478.1,2944,611,1661,4094,56.4,9.1,34,539,0.15,3.83,4.00,2.277,11270,0.161,0.132,2964,2026,1616,1616,4094,0,0,0,0,0,0,25.10,25.06,23.79,9.92,33.77
$GC,602,1.78,478.1,2964,2026,1615,4094,46.1,13.6,40,617,0.00,4.18,0.00,0.000,260,0.000,0.276,2965,3442,1614,1614,4094,0,0,0,0,0,0,25.58,25.16,25.58,9.90,33.69
$GC,645,1.78,478.1,2964,3442,1613,4094,39.7,14.6,43,660,0.00,3.80,0.00,0.000,1030,0.000,0.129,2965,2036,1613,1613,4094,0,0,0,0,0,0,25.42,25.38,25.45,9.90,33.85
$GC,723,1.78,478.1,2964,2035,1611,4094,28.3,14.6,49,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2035,1610,1610,4094,0,0,0,0,0,0,25.81,25.82,25.82,9.90,34.76
$GC,800,1.78,478.1,2964,2035,1608,4094,17.4,13.7,55,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2035,1608,1608,4094,0,0,0,0,0,0,25.91,25.93,25.93,9.90,34.68
$GC,877,1.78,478.1,2964,2035,1606,4094,7.1,13.3,61,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2035,1606,1606,4094,0,0,0,0,0,0,26.00,26.01,26.01,9.91,34.44
$STATE,909,end climb,FINISH_DEPTH_REACHED
$STATE,909,begin subsurface finish
$FINISH1,2.6,1.025298,-161
$GC,914,-0.26,-160.9,2965,2035,1605,4094,2.6,13.4,63,947,6.60,0.00,-7.07,0.000,20486,0.137,0.000,2347,2031,2368,2368,4094,0,0,0,0,0,0,25.79,24.62,25.82,9.91,35.03
$FINISH2,0.4
$STATE,948,end subsurface finish,CONTROL_FINISHED_OK
$STATE,948,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,091103
$TT8_MAMPS,0.026215,0.26964
$HUMID,34.83
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.2,8.4
$24V_AH,23.53,17.764
$10V_AH,8.73,11.951
$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,39.525,39.125,56.625,0.000,0.000,24.356,17.647,167.214,1.000,0.000,23.969,245.380,0.000,108.287,875.299,49.191,33.434,385.275,0.000,643.632,0.000,11.617,0.000
$DEVICE_MAMPS,412.178,330.239,4350.216,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.752,83.165,139.804,363.971,618.962,0.000,0.000,0.000,0.000,0.000
$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,7426,65
$CAP_FILE_SIZE,26315,7
$CFSIZE,1024409600,1009958912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010517,095858,5711.923,-16501.951,5,0.8,22,11.0,0.0,0.0,10,5.0