version: 66.12
glider: 401
mission: 20
dive: 156
start: 5 1 117 3 9 3
data:
$ID,401
$MISSION,20
$DIVE,156
$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,18
$R_STBD_OVSHOOT,15
$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
$GPS1,010517,025955,5710.3843,-16509.3848,3,1.0,37,11.0,0.7,283.8,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-41.9
$GPS2,010517,030801,5710.3882,-16509.6113,4,0.8,15,11.0,1.3,118.6,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5706.695,-16450.922
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.339264,0.136215
$KALMAN_X,-9506.914062,725.489075,-410.100708,45063.195312,-383.768402
$KALMAN_Y,8806.759766,-420.757111,-617.428467,-15520.548828,-171.994415
$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,14,begin dive
$GC,15,-1.72,-439.9,241,2015,1646,4094,0.0,0.0,0,36,0.00,0.00,-9.70,0.000,16390,0.000,0.000,242,2015,2690,2690,4094,0,0,0,0,0,0,26.01,25.16,26.03,9.91,35.50
$GC,38,-1.72,-439.9,241,2015,2690,4094,0.7,0.0,1,68,20.45,3.95,0.00,0.000,2564,0.407,0.238,1849,606,2693,2693,4094,0,0,0,0,0,0,25.39,25.36,25.47,10.13,35.78
$GC,118,-1.72,-439.9,1848,606,2695,4095,22.8,-20.5,7,133,0.00,3.78,0.00,0.000,1030,0.000,0.139,1849,2024,2695,2695,4095,0,0,0,0,0,0,25.61,25.56,25.65,10.14,36.13
$GC,196,-1.72,-439.9,1848,2024,2696,4094,33.1,-12.6,13,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2024,2696,2696,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.13,35.94
$GC,273,-1.72,-439.9,1848,2024,2698,4094,41.5,-10.9,19,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2024,2698,2698,4095,0,0,0,0,0,0,26.07,26.08,26.08,10.13,35.54
$GC,354,-1.72,-439.9,1848,2025,2700,4094,51.1,-12.8,25,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2025,2700,2700,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.12,35.07
$STATE,405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,405,begin apogee
$GC,409,-0.45,0.0,1849,2025,2701,4094,58.4,-13.1,29,452,4.57,0.00,26.62,4.343,10244,0.219,0.000,2257,2025,2173,2173,4094,0,0,0,0,0,0,25.86,24.68,23.88,10.13,34.72
$STATE,453,end apogee,CONTROL_FINISHED_OK
$STATE,453,begin climb
$GC,454,1.72,439.9,2257,2025,2173,4094,61.4,0.0,32,497,7.50,0.00,26.30,4.281,11270,0.127,0.000,2946,2025,1661,1661,4094,0,0,0,0,0,0,25.31,25.50,23.52,10.01,34.40
$GC,560,1.72,439.9,2945,2025,1659,4094,52.5,12.2,40,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,1659,1659,4094,0,0,0,0,0,0,25.47,25.49,25.48,9.92,33.77
$GC,637,1.72,439.9,2945,2025,1657,4094,41.9,13.5,46,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2025,1656,1656,4094,0,0,0,0,0,0,25.68,25.70,25.70,9.91,34.24
$GC,713,1.72,439.9,2945,2025,1654,4094,31.0,14.5,52,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,1654,1654,4095,0,0,0,0,0,0,25.82,25.84,25.83,9.91,34.24
$GC,791,1.72,439.9,2945,2025,1652,4094,21.1,12.8,58,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,1652,1652,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.92,34.36
$GC,868,1.72,439.9,2945,2025,1650,4094,11.1,13.0,64,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,1650,1650,4094,0,0,0,0,0,0,26.01,26.02,26.02,9.91,34.44
$STATE,931,end climb,FINISH_DEPTH_REACHED
$STATE,931,begin subsurface finish
$FINISH1,2.1,1.025294,-161
$GC,936,-0.26,-160.6,2946,2025,1648,4094,2.1,14.0,69,952,6.35,0.00,-7.12,0.000,20486,0.122,0.000,2347,2031,2367,2367,4094,0,0,0,0,0,0,25.81,24.65,25.85,9.92,34.76
$FINISH2,-0.0
$STATE,953,end subsurface finish,CONTROL_FINISHED_OK
$STATE,953,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,030106
$TT8_MAMPS,0.026215,0.250915
$HUMID,35.62
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,8.5
$24V_AH,23.52,16.392
$10V_AH,8.74,11.432
$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,38.875,7.725,52.925,0.000,0.000,49.697,45.797,233.029,0.500,0.000,17.985,236.777,59.963,83.953,1027.420,46.932,33.431,333.610,0.000,677.382,0.000,9.201,0.000
$DEVICE_MAMPS,407.212,238.368,4342.767,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.588,89.708,150.508,373.238,651.630,0.000,0.000,0.000,0.000,0.000
$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,7331,70
$CAP_FILE_SIZE,24698,1
$CFSIZE,1024409600,1010843648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,030801,5710.388,-16509.611,4,0.8,15,11.0,1.3,118.6,10,4.8