version: 66.12
glider: 401
mission: 20
dive: 175
start: 5 1 117 10 17 37
data:
$ID,401
$MISSION,20
$DIVE,175
$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,15
$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
$GPS1,010517,095858,5711.9229,-16501.9512,5,0.8,22,11.0,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,4.3
$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,0.235264,-0.279299
$KALMAN_X,-8974.550781,1283.212524,1094.733032,50145.886719,303.402344
$KALMAN_Y,13677.485352,783.609924,684.611572,-20063.732422,121.364075
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-439.9,2346,2030,2370,4095,0.0,0.0,0,19,0.00,0.00,-1.55,0.000,16390,0.000,0.000,2347,2030,2697,2697,4094,0,0,0,0,0,0,25.89,24.44,25.84,10.06,35.46
$GC,21,-1.72,-439.9,2346,2030,2697,4094,0.0,0.0,0,35,5.40,0.00,0.00,0.000,4102,0.209,0.000,1868,2030,2698,2698,4095,0,0,0,0,0,0,25.60,25.65,25.64,10.13,35.03
$GC,97,-1.72,-439.9,1867,2030,2699,4094,12.0,-9.9,6,111,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2030,2699,2699,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.13,35.27
$GC,174,-1.72,-439.9,1867,2030,2700,4094,20.6,-11.3,12,189,0.00,4.03,0.00,0.000,516,0.000,0.263,1868,606,2701,2701,4094,0,0,1,0,0,0,26.06,25.61,26.06,10.13,35.74
$GC,228,-1.72,-439.9,1867,606,2702,4095,27.5,-12.8,16,246,0.00,3.72,0.00,0.000,1030,0.000,0.139,1868,2020,2702,2702,4094,0,0,0,0,0,0,25.83,25.77,25.88,10.13,35.03
$GC,312,-1.72,-439.9,1867,2020,2703,4094,36.7,-10.2,22,328,0.00,4.12,0.00,0.000,260,0.000,0.303,1867,3433,2703,2703,4094,0,0,0,0,0,0,26.15,25.69,26.17,10.12,34.68
$GC,368,-1.72,-439.9,1867,3433,2705,4095,43.3,-11.7,26,383,0.00,3.67,0.00,0.000,1030,0.000,0.132,1867,2042,2705,2705,4094,0,0,0,0,0,0,25.94,25.88,25.97,10.12,35.23
$GC,450,-1.72,-439.9,1867,2042,2706,4094,52.7,-11.9,32,465,0.00,4.03,0.00,0.000,516,0.000,0.271,1867,616,2707,2707,4095,0,0,0,0,0,0,26.23,25.79,26.25,10.12,34.80
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,500,-0.45,0.0,1867,2029,2707,4094,58.1,-12.1,35,548,4.28,0.00,26.75,4.348,10244,0.211,0.000,2252,2029,2174,2174,4094,0,0,0,0,0,0,25.94,24.75,23.95,10.12,34.91
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,550,1.72,439.9,2252,2029,2174,4094,61.7,0.0,38,601,7.57,4.12,26.30,4.298,10756,0.154,0.268,2945,612,1659,1659,4094,0,0,0,0,0,0,25.29,25.21,23.56,10.01,35.11
$GC,618,1.72,439.9,2945,612,1658,4094,58.5,7.7,42,637,0.00,3.83,0.03,0.007,9222,0.000,0.132,2945,2021,1657,1657,4094,0,0,0,0,0,0,25.08,25.03,25.11,9.91,34.32
$GC,703,1.72,439.9,2945,2022,1656,4094,48.0,11.2,48,718,0.00,4.20,0.00,0.000,260,0.000,0.278,2945,3447,1656,1656,4094,0,0,0,0,0,0,25.62,25.21,25.63,9.91,33.54
$GC,746,1.72,439.9,2945,3447,1655,4094,42.3,13.0,51,764,0.00,3.88,0.00,0.000,1030,0.000,0.132,2946,2010,1655,1655,4094,0,0,0,0,0,0,25.46,25.41,25.48,9.91,33.85
$GC,830,1.72,439.9,2945,2010,1653,4094,30.5,13.4,57,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2009,1652,1652,4094,0,0,0,0,0,0,25.85,25.86,25.86,9.90,33.89
$GC,908,1.72,439.9,2945,2010,1650,4094,20.1,13.5,63,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2010,1650,1650,4094,0,0,0,0,0,0,25.95,25.96,25.96,9.91,34.68
$GC,986,1.72,439.9,2945,2009,1648,4094,9.9,13.2,69,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2010,1647,1647,4094,0,0,0,0,0,0,26.03,26.04,26.04,9.91,34.95
$STATE,1052,end climb,SURFACE_DEPTH_REACHED
$STATE,1053,begin surface coast
$FINISH,-0.0,1.014728
$STATE,1080,end surface coast,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$SM_CCo,1177,0.00,0.000,0,0,1645,454.20
$SM_GC,0.89,28.75,0.08,0.00,0.102,0.363,0.000,242,2052,1645,-6.77,-0.68,454.20,0,0,0,0,0,0,25.84,25.90,25.90
$IRIDIUM_FIX,5554.28,-16557.83,010517,091103
$TT8_MAMPS,0.026215,0.245672
$HUMID,34.68
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.8,8.5
$24V_AH,23.56,17.832
$10V_AH,8.77,11.979
$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,46.000,39.400,53.075,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,271.454,60.168,131.490,742.788,25.080,33.414,395.826,0.000,755.827,0.000,5.446,0.000
$DEVICE_MAMPS,211.055,362.518,4347.733,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.789,97.464,163.460,431.113,731.890,0.000,0.000,0.000,0.000,0.000
$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,7417,76
$CAP_FILE_SIZE,23038,11
$CFSIZE,1024409600,1009909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010517,103804,5711.726,-16500.430,3,0.9,17,11.1,0.0,0.0,10,4.9