version: 66.12
glider: 401
mission: 20
dive: 176
start: 5 1 117 10 44 19
data:
$ID,401
$MISSION,20
$DIVE,176
$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,14
$R_STBD_OVSHOOT,37
$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
$GPS1,010517,103804,5711.7261,-16500.4297,3,0.9,17,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-43.6
$GPS2,010517,104317,5711.7065,-16500.3047,5,0.8,17,11.1,0.0,0.0,11,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5708.013,-16441.605
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.308783,-0.195136
$KALMAN_X,-8257.565430,1548.256226,1339.265869,50536.257812,297.811157
$KALMAN_Y,13704.710938,762.257568,640.444519,-20417.578125,-9.680969
$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,-439.9,241,2022,1646,4094,0.0,0.0,0,34,0.00,0.00,-9.60,0.000,16390,0.000,0.000,242,2022,2691,2691,4095,0,0,0,0,0,0,26.03,25.18,26.04,9.92,35.82
$GC,36,-1.72,-439.9,242,2022,2691,4094,0.9,0.0,1,65,20.52,3.95,0.00,0.000,2564,0.412,0.236,1848,603,2694,2694,4094,0,0,0,0,0,0,25.49,25.43,25.53,10.13,35.66
$GC,117,-1.72,-439.9,1848,603,2696,4094,22.0,-20.9,7,135,0.00,3.72,0.00,0.000,1030,0.000,0.137,1848,2006,2696,2696,4094,0,0,0,0,0,0,25.67,25.62,25.69,10.13,35.39
$GC,201,-1.72,-439.9,1848,2005,2697,4094,32.5,-11.5,13,217,0.00,4.20,0.00,0.000,260,0.000,0.300,1848,3438,2698,2698,4094,0,0,0,0,0,0,26.03,25.58,26.05,10.13,35.50
$GC,256,-1.72,-439.9,1848,3437,2698,4094,38.7,-11.6,17,270,0.00,3.62,0.00,0.000,1030,0.000,0.129,1848,2069,2699,2699,4095,0,0,0,0,0,0,25.83,25.79,25.86,10.12,34.87
$GC,333,-1.72,-439.9,1848,2069,2700,4095,48.0,-12.0,23,351,0.00,4.10,0.00,0.000,516,0.000,0.256,1848,614,2700,2700,4094,0,0,0,0,0,0,26.15,25.71,26.16,10.12,34.83
$GC,385,-1.72,-439.9,1848,614,2701,4094,54.5,-12.6,26,400,0.00,3.78,0.00,0.000,1030,0.000,0.144,1848,2043,2702,2702,4094,0,0,0,0,0,0,25.89,25.84,25.94,10.12,34.91
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,418,-0.45,0.0,1848,2043,2702,4094,58.5,-13.1,28,455,4.57,0.00,26.33,4.365,10244,0.223,0.000,2256,2043,2173,2173,4094,0,0,0,0,0,0,25.86,25.01,23.89,10.12,34.56
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,457,1.72,439.9,2255,2043,2173,4094,61.9,0.0,30,495,7.57,0.00,25.85,4.286,11270,0.137,0.000,2945,2043,1661,1661,4094,0,0,0,0,0,0,25.27,25.49,23.52,10.01,34.48
$GC,559,1.72,439.9,2944,2043,1659,4094,52.7,13.8,37,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2043,1659,1659,4094,0,0,0,0,0,0,25.46,25.48,25.47,9.91,34.24
$GC,636,1.72,439.9,2944,2043,1657,4094,42.4,13.4,43,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2043,1656,1656,4094,0,0,0,0,0,0,25.68,25.70,25.69,9.91,33.97
$GC,712,1.72,439.9,2944,2043,1655,4094,32.5,13.3,49,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2043,1654,1654,4094,0,0,0,0,0,0,25.82,25.83,25.83,9.91,33.97
$GC,789,1.72,439.9,2944,2043,1653,4094,22.9,12.3,55,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2043,1652,1652,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.91,34.68
$GC,865,1.72,439.9,2944,2044,1650,4094,13.0,13.4,61,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2044,1650,1650,4094,0,0,0,0,0,0,26.01,26.02,26.02,9.92,34.44
$STATE,944,end climb,FINISH_DEPTH_REACHED
$STATE,944,begin subsurface finish
$FINISH1,2.4,1.025300,-161
$GC,949,-0.26,-161.0,2944,2044,1648,4094,2.4,13.3,67,968,6.43,0.00,-6.40,0.000,20486,0.149,0.000,2345,2044,2370,2370,4094,0,0,0,0,0,0,25.86,24.65,25.87,9.92,35.31
$FINISH2,-0.0
$STATE,969,end subsurface finish,CONTROL_FINISHED_OK
$STATE,969,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,095500
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.07
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.2,9.5
$24V_AH,23.52,17.912
$10V_AH,8.77,12.007
$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,39.100,23.475,52.175,0.000,0.000,22.958,27.659,174.476,0.500,0.000,18.628,252.136,0.000,99.925,905.844,49.241,33.435,349.407,0.000,669.297,0.000,7.326,0.000
$DEVICE_MAMPS,412.178,327.756,4365.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.280,87.163,146.258,373.716,644.315,0.000,0.000,0.000,0.000,0.000
$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,7332,68
$CAP_FILE_SIZE,24563,9
$CFSIZE,1024409600,1009860608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010517,104317,5711.707,-16500.305,5,0.8,17,11.1,0.0,0.0,11,4.7