version: 66.12
glider: 401
mission: 20
dive: 186
start: 5 1 117 14 30 21
data:
$ID,401
$MISSION,20
$DIVE,186
$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,13
$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
$GPS1,010517,142422,5709.6240,-16455.3477,1,0.7,17,11.1,0.6,330.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-45.0
$GPS2,010517,142920,5709.5908,-16455.3906,3,0.8,21,11.1,0.5,145.9,11,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5705.897,-16436.709
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.288704,0.223844
$KALMAN_X,-8005.049316,2363.068359,1328.460083,54422.203125,-226.591919
$KALMAN_Y,11934.000977,-74.389748,-487.055695,-20594.607422,-312.465729
$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,-439.9,243,2016,1647,4094,0.0,0.0,0,34,0.00,0.00,-9.62,0.000,16390,0.000,0.000,243,2016,2690,2690,4095,0,0,0,0,0,0,26.06,25.20,26.07,9.90,35.78
$GC,36,-1.72,-439.9,242,2016,2690,4094,0.9,0.0,1,69,20.42,3.92,0.00,0.000,2564,0.412,0.236,1848,602,2692,2692,4094,0,0,0,0,0,0,25.50,25.47,25.58,10.12,36.02
$GC,120,-1.72,-439.9,1847,602,2694,4094,21.6,-19.7,7,139,0.00,3.78,0.00,0.000,1030,0.000,0.139,1848,2028,2694,2694,4094,0,0,0,0,0,0,25.72,25.65,25.74,10.13,35.94
$GC,204,-1.72,-439.9,1847,2028,2696,4094,32.7,-12.9,13,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2027,2696,2696,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.12,35.98
$GC,283,-1.72,-439.9,1847,2027,2697,4095,42.4,-12.5,19,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2028,2698,2698,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,35.07
$GC,365,-1.72,-439.9,1847,2028,2699,4094,52.2,-11.8,25,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2028,2699,2699,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.12,34.91
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,421,-0.45,0.0,1847,2028,2700,4095,58.8,-12.2,29,459,4.60,0.00,26.23,4.417,10244,0.221,0.000,2258,2028,2174,2174,4095,0,0,0,0,0,0,25.91,25.03,23.91,10.11,35.27
$STATE,460,end apogee,CONTROL_FINISHED_OK
$STATE,460,begin climb
$GC,461,1.72,439.9,2258,2028,2174,4094,61.6,0.0,31,513,7.43,4.18,26.02,4.348,10500,0.142,0.288,2948,3443,1664,1664,4094,0,0,0,0,0,0,25.22,25.12,23.53,10.00,34.64
$GC,529,1.72,439.9,2947,3443,1663,4094,57.9,8.5,35,548,0.00,3.88,0.00,0.000,1030,0.000,0.127,2948,2027,1662,1662,4094,0,0,0,0,0,0,25.07,25.02,25.10,9.91,34.09
$GC,613,1.72,439.9,2947,2027,1661,4094,47.0,13.2,41,629,0.00,4.12,0.00,0.000,516,0.000,0.276,2948,603,1661,1661,4094,0,0,0,0,0,0,25.61,25.20,25.63,9.91,34.80
$GC,668,1.72,439.9,2947,603,1659,4094,39.5,14.0,45,687,0.00,3.78,0.00,0.000,1030,0.000,0.137,2948,2020,1658,1658,4094,0,0,0,0,0,0,25.48,25.44,25.51,9.90,34.17
$GC,752,1.72,439.9,2947,2020,1657,4094,27.8,13.7,51,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2021,1655,1655,4094,0,0,0,0,0,0,25.86,25.87,25.87,9.90,34.32
$GC,830,1.72,439.9,2947,2020,1655,4094,17.4,13.3,57,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2020,1654,1654,4094,0,0,0,0,0,0,25.96,25.97,25.97,9.91,34.60
$GC,911,1.72,439.9,2947,2020,1652,4094,6.7,13.2,63,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2021,1652,1652,4094,0,0,0,0,0,0,26.03,26.06,26.05,9.90,34.76
$STATE,942,end climb,FINISH_DEPTH_REACHED
$STATE,943,begin subsurface finish
$FINISH1,2.4,1.025330,-163
$GC,948,-0.26,-163.1,2947,2021,1650,4095,2.4,13.0,65,967,6.40,0.00,-6.40,0.000,20486,0.127,0.000,2344,2024,2370,2370,4094,0,0,0,0,0,0,25.84,24.63,25.86,9.91,35.19
$FINISH2,-0.1
$STATE,968,end subsurface finish,CONTROL_FINISHED_OK
$STATE,968,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,134021
$TT8_MAMPS,0.026215,0.266644
$HUMID,35.46
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.53,18.648
$10V_AH,8.70,12.295
$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,38.850,23.650,52.250,0.000,0.000,22.875,18.479,161.100,0.500,0.000,22.815,241.238,0.000,111.195,886.290,50.825,33.433,373.910,0.000,665.760,0.000,7.326,0.000
$DEVICE_MAMPS,412.178,288.028,4417.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.717,84.540,141.939,379.195,641.708,0.000,0.000,0.000,0.000,0.000
$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,3920,66
$CAP_FILE_SIZE,24482,14
$CFSIZE,1024409600,1009369088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,142920,5709.591,-16455.391,3,0.8,21,11.1,0.5,145.9,11,5.0