version: 66.12
glider: 401
mission: 20
dive: 182
start: 5 1 117 13 0 25
data:
$ID,401
$MISSION,20
$DIVE,182
$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,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
$GPS1,010517,125421,5710.4678,-16456.5527,1,0.8,15,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-43.3
$GPS2,010517,125924,5710.4204,-16456.5137,3,0.7,18,11.1,0.0,0.0,12,4.6
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5706.727,-16437.824
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.329557,0.157256
$KALMAN_X,-7825.667480,2273.708740,1633.374023,52894.925781,-37.607666
$KALMAN_Y,13073.716797,399.500305,3.821732,-21160.564453,-319.582947
$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,-439.9,231,2045,1647,4094,0.0,0.0,0,37,0.00,0.00,-9.55,0.000,16390,0.000,0.000,232,2046,2692,2692,4094,0,0,0,0,0,0,26.04,25.19,26.05,9.90,36.10
$GC,39,-1.72,-439.9,231,2046,2693,4094,0.9,0.0,1,77,20.50,4.05,0.00,0.000,2564,0.407,0.236,1849,612,2695,2695,4095,0,0,0,0,0,0,25.41,25.37,25.48,10.12,35.74
$GC,127,-1.72,-439.9,1848,612,2696,4094,25.4,-18.4,7,146,0.00,3.75,0.00,0.000,1030,0.000,0.139,1849,2020,2697,2697,4095,0,0,0,0,0,0,25.64,25.58,25.66,10.13,35.39
$GC,212,-1.72,-439.9,1848,2020,2698,4094,36.4,-12.4,13,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2020,2699,2699,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.12,34.95
$GC,289,-1.72,-439.9,1848,2020,2700,4094,45.9,-12.3,19,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2020,2700,2700,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.12,35.39
$GC,376,-1.72,-439.9,1848,2020,2702,4095,56.7,-12.6,25,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2020,2702,2702,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,34.87
$STATE,405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,405,begin apogee
$GC,409,-0.45,0.0,1849,2020,2703,4094,60.5,-12.1,27,446,4.57,0.00,26.38,4.479,10244,0.219,0.000,2257,2020,2174,2174,4094,0,0,0,0,0,0,25.84,24.97,23.83,10.12,34.76
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,447,begin climb
$GC,449,1.72,439.9,2257,2020,2174,4094,63.5,0.0,29,499,7.57,0.00,26.20,4.405,11270,0.144,0.000,2944,2021,1659,1659,4094,0,0,0,0,0,0,25.27,25.46,23.47,10.01,35.07
$GC,563,1.72,439.9,2943,2020,1658,4094,54.1,12.3,37,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2021,1657,1657,4094,0,0,0,0,0,0,25.48,25.50,25.50,9.91,34.05
$GC,644,1.72,439.9,2943,2020,1655,4094,43.2,13.5,43,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2021,1655,1655,4094,0,0,0,0,0,0,25.70,25.71,25.71,9.90,34.09
$GC,724,1.72,439.9,2943,2021,1653,4094,32.6,13.4,49,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2020,1653,1653,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.90,34.32
$GC,805,1.72,439.9,2944,2020,1650,4094,22.8,11.9,55,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2020,1651,1651,4094,0,0,0,0,0,0,25.94,25.95,25.95,9.91,34.32
$GC,886,1.72,439.9,2943,2021,1649,4094,12.1,13.4,61,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2021,1648,1648,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.91,34.76
$STATE,966,end climb,FINISH_DEPTH_REACHED
$STATE,966,begin subsurface finish
$FINISH1,1.5,1.025318,-162
$GC,971,-0.26,-162.2,2944,2021,1646,4094,1.5,13.0,67,991,6.35,0.00,-6.93,0.000,20486,0.117,0.000,2342,2024,2368,2368,4094,0,0,0,0,0,0,25.85,24.66,25.89,9.91,34.99
$FINISH2,-0.0
$STATE,992,end subsurface finish,CONTROL_FINISHED_OK
$STATE,992,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,121007
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.27
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,8.4
$24V_AH,23.47,18.353
$10V_AH,8.73,12.181
$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,39.000,7.800,52.575,0.000,0.000,25.227,18.844,166.678,0.500,0.000,19.612,244.228,0.000,117.817,905.701,50.503,33.433,374.469,0.000,679.542,0.000,7.321,0.000
$DEVICE_MAMPS,407.212,235.885,4479.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.281,87.156,146.253,385.509,655.272,0.000,0.000,0.000,0.000,0.000
$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,7364,68
$CAP_FILE_SIZE,23280,16
$CFSIZE,1024409600,1009565696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,125924,5710.420,-16456.514,3,0.7,18,11.1,0.0,0.0,12,4.6