version: 66.12
glider: 401
mission: 20
dive: 150
start: 5 1 117 0 51 33
data:
$ID,401
$MISSION,20
$DIVE,150
$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,18
$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
$GPS1,010517,004340,5711.1328,-16507.8145,2,0.8,19,11.0,0.7,299.6,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-43.5
$GPS2,010517,005032,5711.0962,-16507.9648,4,0.7,18,11.0,0.0,0.0,12,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.403,-16449.271
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.237952,0.277290
$KALMAN_X,-7665.678711,1543.359741,384.212341,43256.945312,-329.986755
$KALMAN_Y,10540.571289,167.649200,-112.038353,-17028.369141,-316.481110
$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,13,begin dive
$GC,15,-1.72,-439.9,242,2001,1648,4093,0.0,0.0,0,33,0.00,0.00,-9.73,0.000,16390,0.000,0.000,243,2001,2690,2690,4094,0,0,0,0,0,0,26.03,25.19,26.05,9.91,35.54
$GC,34,-1.72,-439.9,242,2001,2691,4095,0.8,0.0,1,72,20.30,3.92,0.00,0.000,2564,0.415,0.236,1850,606,2693,2693,4094,0,0,0,0,0,0,25.49,25.45,25.56,10.13,36.10
$GC,100,-1.72,-439.9,1849,606,2694,4094,18.2,-27.7,5,115,0.00,3.75,0.00,0.000,1030,0.000,0.139,1849,2019,2694,2694,4094,0,0,0,0,0,0,25.67,25.61,25.70,10.13,35.46
$GC,178,-1.72,-439.9,1849,2018,2695,4094,28.0,-12.2,11,196,0.00,4.18,0.00,0.000,260,0.000,0.310,1850,3438,2696,2696,4094,0,0,0,0,0,0,26.03,25.56,26.04,10.13,35.23
$GC,224,-1.72,-439.9,1849,3438,2696,4095,34.1,-13.1,14,238,0.00,3.72,0.00,0.000,1030,0.000,0.132,1850,2036,2697,2697,4094,0,0,0,0,0,0,25.81,25.77,25.84,10.12,35.39
$GC,301,-1.72,-439.9,1849,2036,2698,4094,43.3,-12.0,20,319,0.00,4.03,0.00,0.000,516,0.000,0.263,1850,608,2698,2698,4094,0,0,0,0,0,0,26.13,25.69,26.15,10.11,34.83
$GC,347,-1.72,-439.9,1849,608,2699,4094,49.2,-12.5,23,367,0.00,3.72,0.00,0.000,1030,0.000,0.144,1850,2023,2699,2699,4094,0,0,0,0,0,0,25.88,25.83,25.92,10.12,34.68
$STATE,419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,419,begin apogee
$GC,423,-0.45,0.0,1850,2024,2700,4095,58.1,-11.8,28,460,4.55,0.00,26.30,4.343,10244,0.214,0.000,2258,2024,2174,2174,4094,0,0,0,0,0,0,25.89,25.02,23.91,10.12,34.44
$STATE,461,end apogee,CONTROL_FINISHED_OK
$STATE,461,begin climb
$GC,462,1.72,439.9,2257,2024,2174,4094,60.9,0.0,30,513,7.47,0.00,26.12,4.263,11270,0.132,0.000,2943,2024,1661,1661,4094,0,0,0,0,0,0,25.31,25.50,23.54,10.00,34.28
$GC,576,1.72,439.9,2943,2023,1659,4094,50.6,12.7,38,595,0.00,4.12,0.00,0.000,516,0.000,0.266,2943,607,1659,1659,4094,0,0,1,0,0,0,25.51,25.11,25.52,9.90,33.73
$GC,622,1.72,439.9,2943,606,1658,4094,44.4,13.3,41,637,0.00,3.72,0.00,0.000,1030,0.000,0.134,2943,1999,1658,1658,4094,0,0,0,0,0,0,25.39,25.34,25.42,9.90,34.48
$GC,699,1.72,439.9,2943,1999,1656,4094,34.0,13.4,47,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1999,1655,1655,4094,0,0,0,0,0,0,25.78,25.80,25.79,9.90,34.05
$GC,775,1.72,439.9,2943,1999,1654,4094,24.5,12.2,53,790,0.00,4.20,0.00,0.000,260,0.000,0.286,2943,3439,1653,1653,4094,0,0,0,0,0,0,25.89,25.45,25.91,9.91,34.44
$GC,818,1.72,439.9,2943,3439,1652,4094,18.5,13.4,56,836,0.00,3.85,0.00,0.000,1030,0.000,0.129,2943,1997,1652,1652,4094,0,0,0,0,0,0,25.68,25.63,25.71,9.91,34.24
$GC,902,1.72,439.9,2943,1997,1650,4094,7.0,13.2,62,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1997,1649,1649,4094,0,0,0,0,0,0,26.03,26.04,26.03,9.91,34.80
$STATE,933,end climb,FINISH_DEPTH_REACHED
$STATE,933,begin subsurface finish
$FINISH1,2.8,1.025276,-159
$GC,938,-0.25,-159.3,2943,2046,1649,4094,2.8,13.4,64,954,6.50,0.00,-6.22,0.000,20998,0.176,0.000,2345,2048,2365,2365,4094,0,0,0,0,0,0,25.82,24.63,25.85,9.91,34.80
$FINISH2,0.1
$STATE,955,end subsurface finish,CONTROL_FINISHED_OK
$STATE,955,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,300417,235859
$TT8_MAMPS,0.026215,0.258405
$HUMID,34.80
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.54,15.935
$10V_AH,8.76,11.259
$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,38.825,39.325,52.425,0.000,0.000,59.089,24.456,174.689,0.500,0.000,19.826,244.569,60.065,114.704,924.461,47.066,33.441,387.365,0.000,646.986,0.000,6.973,0.000
$DEVICE_MAMPS,414.661,310.375,4342.767,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.885,83.200,139.748,363.019,622.678,0.000,0.000,0.000,0.000,0.000
$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,7355,65
$CAP_FILE_SIZE,26796,11
$CFSIZE,1024409600,1011138560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,005032,5711.096,-16507.965,4,0.7,18,11.0,0.0,0.0,12,5.0