version: 66.12
glider: 401
mission: 20
dive: 180
start: 5 1 117 12 15 10
data:
$ID,401
$MISSION,20
$DIVE,180
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,010517,120900,5710.9399,-16457.5703,1,1.0,15,11.1,0.7,37.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-43.7
$GPS2,010517,121409,5710.8911,-16457.4941,3,0.9,19,11.1,0.0,0.0,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.198,-16438.803
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.362679,0.045825
$KALMAN_X,-7823.104004,2106.079834,1643.929443,52062.105469,78.438232
$KALMAN_Y,13495.833008,590.232300,262.505951,-21161.013672,-242.759827
$MHEAD_RNG_PITCHd_Wd,98.9,20000,-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,-439.9,231,2037,1648,4094,0.0,0.0,0,34,0.00,0.00,-9.48,0.000,16390,0.000,0.000,232,2037,2691,2691,4095,0,0,0,0,0,0,26.04,25.20,26.06,9.91,35.50
$GC,36,-1.72,-439.9,231,2037,2691,4095,0.9,0.0,1,68,20.58,3.95,0.00,0.000,2564,0.410,0.243,1849,607,2693,2693,4094,0,0,0,0,0,0,25.48,25.44,25.56,10.13,36.02
$GC,132,-1.72,-439.9,1848,607,2695,4094,24.4,-15.2,8,150,0.00,3.75,0.00,0.000,1030,0.000,0.144,1849,2019,2696,2696,4094,0,0,0,0,0,0,25.70,25.65,25.73,10.13,35.58
$GC,216,-1.72,-439.9,1848,2019,2697,4094,35.3,-12.0,14,232,0.00,4.18,0.00,0.000,260,0.000,0.310,1849,3439,2697,2697,4094,0,0,0,0,0,0,26.06,25.59,26.08,10.12,35.31
$GC,247,-1.72,-439.9,1848,3439,2697,4095,39.2,-12.1,16,266,0.00,3.78,0.00,0.000,1030,0.000,0.137,1849,2021,2698,2698,4094,0,0,0,0,0,0,25.82,25.77,25.85,10.12,35.07
$GC,331,-1.72,-439.9,1848,2020,2700,4095,49.4,-12.3,22,353,0.00,4.00,0.00,0.000,516,0.000,0.273,1849,610,2700,2700,4094,0,0,0,0,0,0,26.15,25.70,26.17,10.12,34.87
$GC,381,-1.72,-439.9,1848,610,2700,4094,55.4,-12.1,25,399,0.00,3.67,0.00,0.000,1030,0.000,0.142,1849,2007,2701,2701,4094,0,0,0,0,0,0,25.91,25.85,25.94,10.11,35.27
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,417,-0.45,0.0,1849,2007,2702,4094,59.8,-12.6,27,450,4.57,0.00,26.40,4.417,10244,0.223,0.000,2256,2007,2174,2174,4094,0,0,0,0,0,0,25.87,25.01,23.88,10.11,34.44
$STATE,451,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$GC,453,1.72,439.9,2256,2007,2174,4095,62.6,0.0,29,491,7.55,0.00,26.02,4.358,11270,0.137,0.000,2944,2008,1661,1661,4094,0,0,0,0,0,0,25.27,25.46,23.51,10.01,34.44
$GC,554,1.72,439.9,2943,2007,1659,4094,54.1,11.8,36,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2007,1659,1659,4094,0,0,0,0,0,0,25.46,25.47,25.46,9.90,33.81
$GC,634,1.72,439.9,2943,2008,1657,4094,44.2,12.7,42,652,0.00,4.03,0.00,0.000,516,0.000,0.263,2944,613,1657,1657,4094,0,0,1,0,0,0,25.68,25.27,25.69,9.90,33.97
$GC,669,1.72,439.9,2943,614,1656,4094,39.6,12.9,44,687,0.00,3.75,0.00,0.000,1030,0.000,0.137,2944,2018,1656,1656,4094,0,0,0,0,0,0,25.50,25.44,25.52,9.91,34.20
$GC,753,1.72,439.9,2943,2018,1654,4094,28.6,12.7,50,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2019,1653,1653,4094,0,0,0,0,0,0,25.87,25.89,25.89,9.90,34.56
$GC,831,1.72,439.9,2943,2018,1652,4094,18.8,12.8,56,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2019,1651,1651,4094,0,0,0,0,0,0,25.96,25.98,25.98,9.90,34.20
$GC,908,1.72,439.9,2944,2019,1650,4094,9.0,12.7,62,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2019,1649,1649,4094,0,0,0,0,0,0,26.04,26.06,26.06,9.91,34.76
$STATE,961,end climb,FINISH_DEPTH_REACHED
$STATE,961,begin subsurface finish
$FINISH1,2.0,1.025311,-162
$GC,966,-0.26,-161.7,2944,2019,1648,4094,2.0,13.0,66,986,6.32,0.00,-6.85,0.000,20486,0.127,0.000,2347,2021,2368,2368,4094,0,0,0,0,0,0,25.84,24.66,25.87,9.91,35.54
$FINISH2,0.1
$STATE,987,end subsurface finish,CONTROL_FINISHED_OK
$STATE,987,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,112416
$TT8_MAMPS,0.026215,0.256907
$HUMID,35.03
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.51,18.206
$10V_AH,8.78,12.123
$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,39.025,31.100,52.425,0.000,0.000,24.224,27.549,163.376,0.500,0.000,20.511,236.555,0.000,114.278,909.808,49.547,33.459,381.338,0.000,676.208,0.000,7.311,0.000
$DEVICE_MAMPS,409.695,310.375,4417.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.452,85.829,144.111,386.315,652.076,0.000,0.000,0.000,0.000,0.000
$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,7394,67
$CAP_FILE_SIZE,25255,14
$CFSIZE,1024409600,1009664000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,121409,5710.891,-16457.494,3,0.9,19,11.1,0.0,0.0,10,4.8