version: 66.12
glider: 401
mission: 20
dive: 164
start: 5 1 117 6 13 9
data:
$ID,401
$MISSION,20
$DIVE,164
$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,16
$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
$GPS1,010517,060317,5711.0923,-16509.1953,4,0.8,18,11.0,0.0,38.6,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-42.7
$GPS2,010517,061208,5711.1782,-16509.2148,5,1.0,50,11.0,1.9,62.7,9,3.2
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.485,-16450.520
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141654,-0.336834
$KALMAN_X,-11166.056641,-2.004604,-616.536987,48035.484375,32.723644
$KALMAN_Y,10225.012695,-219.041855,-83.792732,-16227.156250,330.351501
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-439.9,232,2015,1649,4094,0.0,0.0,0,37,0.00,0.00,-9.73,0.000,16390,0.000,0.000,232,2015,2692,2692,4094,0,0,0,0,0,0,26.09,25.25,26.10,9.91,35.86
$GC,39,-1.72,-439.9,232,2015,2692,4094,0.8,0.0,1,72,20.60,3.90,0.00,0.000,2564,0.410,0.231,1849,607,2695,2695,4095,0,0,0,0,0,0,25.45,25.41,25.53,10.13,35.86
$GC,112,-1.72,-439.9,1848,607,2696,4094,22.7,-28.7,6,130,0.00,3.75,0.00,0.000,1030,0.000,0.139,1849,2018,2696,2696,4094,0,0,0,0,0,0,25.65,25.63,25.68,10.13,35.66
$GC,196,-1.72,-439.9,1848,2018,2698,4094,33.6,-12.2,12,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2018,2698,2698,4094,0,0,0,0,0,0,26.03,26.03,26.03,10.12,35.31
$GC,274,-1.72,-439.9,1848,2019,2699,4094,42.4,-11.8,18,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2019,2700,2700,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.12,35.39
$GC,357,-1.72,-439.9,1848,2019,2701,4095,52.1,-11.8,24,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2019,2702,2702,4095,0,0,0,0,0,0,26.17,26.18,26.17,10.12,34.91
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,417,-0.45,0.0,1849,2019,2702,4095,59.4,-12.2,28,451,4.53,0.00,26.50,4.400,10244,0.214,0.000,2254,2019,2174,2174,4094,0,0,0,0,0,0,25.89,25.01,23.90,10.12,34.95
$STATE,452,end apogee,CONTROL_FINISHED_OK
$STATE,452,begin climb
$GC,453,1.72,439.9,2254,2018,2174,4094,62.3,0.0,30,501,7.65,4.10,26.23,4.318,10756,0.164,0.263,2944,608,1661,1661,4094,0,0,0,0,0,0,25.19,25.08,23.52,10.01,34.48
$GC,530,1.80,487.9,2943,608,1659,4094,57.5,8.9,35,549,0.20,3.85,4.47,2.540,11270,0.139,0.132,2969,2032,1605,1605,4094,0,0,0,0,0,0,25.11,25.06,23.77,9.92,33.89
$GC,612,1.80,487.9,2968,2032,1603,4094,46.2,13.9,41,626,0.00,4.18,0.00,0.000,260,0.000,0.283,2969,3444,1603,1603,4094,0,0,0,0,0,0,25.58,25.17,25.59,9.90,33.93
$GC,678,1.80,487.9,2969,3444,1601,4094,35.5,16.7,46,693,0.00,3.78,0.00,0.000,1030,0.000,0.129,2969,2044,1601,1601,4094,0,0,0,0,0,0,25.48,25.42,25.51,9.90,34.36
$GC,756,1.80,487.9,2969,2044,1599,4094,23.9,13.7,52,771,0.00,4.12,0.00,0.000,516,0.000,0.276,2969,608,1597,1597,4095,0,0,0,0,0,0,25.85,25.41,25.86,9.90,34.56
$GC,810,1.80,487.9,2969,608,1597,4094,16.3,13.9,56,828,0.00,3.78,0.00,0.000,1030,0.000,0.137,2970,2033,1596,1596,4095,0,0,0,0,0,0,25.65,25.60,25.68,9.90,35.03
$GC,894,1.80,487.9,2969,2033,1594,4094,4.3,14.2,62,910,0.00,4.10,0.00,0.000,260,0.000,0.291,2969,3440,1594,1594,4094,0,0,0,0,0,0,26.00,25.57,26.01,9.90,34.91
$STATE,924,end climb,FINISH_DEPTH_REACHED
$STATE,924,begin subsurface finish
$FINISH1,-0.1,1.003859,0
$GC,933,0.00,0.0,2969,2019,1594,4094,-0.1,14.2,64,968,5.78,4.38,-5.72,0.000,20740,0.104,4.243,2419,3432,2180,2180,4094,0,0,0,0,0,0,25.83,24.27,25.82,9.91,34.95
$FINISH2,-0.0
$STATE,969,end subsurface finish,CONTROL_FINISHED_OK
$STATE,969,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,051929
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.46
$INTERNAL_PRESSURE,9.96488
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.52,16.997
$10V_AH,8.75,11.663
$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,38.750,43.750,57.200,0.000,0.000,90.320,28.829,167.537,0.500,0.000,51.782,246.261,119.721,114.163,993.822,49.860,33.460,384.011,0.000,660.438,0.000,7.322,0.000
$DEVICE_MAMPS,409.695,4243.447,4399.876,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.614,84.494,141.941,374.083,636.025,0.000,0.000,0.000,0.000,0.000
$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,7404,66
$CAP_FILE_SIZE,27510,12
$CFSIZE,1024409600,1010450432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010517,061208,5711.178,-16509.215,5,1.0,50,11.0,1.9,62.7,9,3.2