version: 66.12
glider: 401
mission: 20
dive: 183
start: 5 1 117 13 18 45
data:
$ID,401
$MISSION,20
$DIVE,183
$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,11
$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
$GPS1,010517,125924,5710.4204,-16456.5137,3,0.7,18,11.1,0.0,0.0,12,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-0.9
$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,0.360573,0.058533
$KALMAN_X,-8028.137207,2287.953125,1501.610107,53230.195312,10.463989
$KALMAN_Y,13041.486328,317.026978,-105.273163,-20951.437500,-232.088593
$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,15,-1.72,-439.9,2341,2023,2369,4095,0.0,0.0,0,35,0.00,0.00,-1.73,0.000,16390,0.000,0.000,2342,2024,2695,2695,4094,0,0,0,0,0,0,26.11,24.60,26.08,10.05,36.06
$GC,37,-1.72,-439.9,2341,2024,2695,4094,3.8,0.0,1,56,5.22,0.00,0.00,0.000,4102,0.151,0.000,1865,2023,2696,2696,4094,0,0,0,0,0,0,25.46,25.51,25.49,10.12,35.15
$GC,120,-1.72,-439.9,1864,2024,2696,4094,12.9,-10.1,7,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2024,2697,2697,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.13,35.43
$GC,201,-1.72,-439.9,1863,2024,2698,4095,21.7,-10.9,13,215,0.00,4.03,0.00,0.000,516,0.000,0.258,1865,610,2698,2698,4094,0,0,0,0,0,0,25.99,25.56,26.00,10.13,35.15
$GC,243,-1.72,-439.9,1864,610,2699,4094,26.8,-11.8,16,257,0.00,3.75,0.00,0.000,1030,0.000,0.142,1865,2025,2699,2699,4095,0,0,0,0,0,0,25.77,25.70,25.79,10.12,34.72
$GC,321,-1.72,-439.9,1864,2025,2700,4094,36.3,-11.5,22,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2025,2701,2701,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.12,35.27
$GC,400,-1.72,-439.9,1864,2025,2702,4094,45.3,-11.5,28,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2025,2703,2703,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,34.95
$GC,487,-1.72,-439.9,1864,2026,2704,4095,55.0,-10.9,34,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2026,2705,2705,4095,0,0,0,0,0,0,26.22,26.23,26.22,10.11,34.95
$STATE,516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,516,begin apogee
$GC,520,-0.45,0.0,1864,2026,2705,4094,58.4,-11.5,36,557,4.38,0.00,26.42,4.400,10244,0.216,0.000,2255,2026,2173,2173,4094,0,0,0,0,0,0,25.91,25.03,23.91,10.12,34.56
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,559,1.72,439.9,2255,2026,2173,4094,61.4,0.0,38,610,7.45,4.20,26.30,4.340,10500,0.142,0.291,2949,3445,1659,1659,4094,0,0,0,0,0,0,25.22,25.12,23.53,10.00,34.60
$GC,627,1.72,439.9,2948,3444,1659,4094,57.5,8.3,42,645,0.00,3.88,0.00,0.000,1030,0.000,0.127,2949,2029,1659,1659,4094,0,0,0,0,0,0,25.06,25.01,25.08,9.91,34.52
$GC,711,1.72,439.9,2948,2029,1657,4094,46.2,13.0,48,727,0.00,4.15,0.00,0.000,516,0.000,0.283,2949,607,1656,1656,4094,0,0,0,0,0,0,25.60,25.18,25.62,9.90,33.85
$GC,767,1.72,439.9,2948,607,1655,4094,38.1,14.5,52,785,0.00,3.78,0.00,0.000,1030,0.000,0.134,2949,2024,1654,1654,4094,0,0,0,0,0,0,25.47,25.42,25.51,9.90,34.13
$GC,851,1.72,439.9,2948,2024,1652,4094,26.7,13.1,58,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2024,1652,1652,4094,0,0,0,0,0,0,25.85,25.87,25.86,9.90,34.32
$GC,930,1.72,439.9,2948,2024,1650,4094,16.7,13.0,64,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2024,1650,1650,4094,0,0,0,0,0,0,25.95,25.96,25.96,9.91,34.56
$GC,1011,1.72,439.9,2948,2024,1648,4094,6.2,13.0,70,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2024,1647,1647,4095,0,0,0,0,0,0,26.03,26.05,26.04,9.91,35.11
$STATE,1043,end climb,SURFACE_DEPTH_REACHED
$STATE,1044,begin surface coast
$FINISH,-0.0,1.025314
$STATE,1071,end surface coast,CONTROL_FINISHED_OK
$STATE,1071,begin surface
$SM_CCo,1167,0.00,0.000,0,0,1646,454.20
$SM_GC,1.09,28.80,0.00,0.00,0.094,0.000,0.000,231,2029,1646,-6.81,0.18,454.20,0,0,0,0,0,0,25.44,26.10,25.73
$IRIDIUM_FIX,5554.28,-16557.83,010517,121007
$TT8_MAMPS,0.026215,0.258405
$HUMID,34.60
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,8.5
$24V_AH,23.53,18.420
$10V_AH,8.71,12.209
$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,45.850,23.775,52.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,263.722,59.742,142.910,728.233,26.201,33.412,410.471,0.000,740.525,0.000,5.448,0.000
$DEVICE_MAMPS,216.021,290.511,4399.876,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.402,94.870,159.158,423.601,717.209,0.000,0.000,0.000,0.000,0.000
$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,7445,74
$CAP_FILE_SIZE,21871,15
$CFSIZE,1024409600,1009516544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,133915,5710.003,-16455.830,1,0.8,30,11.1,0.0,0.0,11,5.0